Moving robots into the future

Incorporating the latest advances in motion planning,
manipulation, 3D perception, kinematics, control and navigation

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Robot hand
Latest: MoveIt 2 Foxy / Ubuntu 20.04
Build MoveIt 2 from Source
Version: 2.1.0
  • Motion Planning

    Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums

  • Manipulation

    Analyze and interact with your environment with grasp generation

  • Inverse Kinematics

    Solve for joint positions for a given pose, even in over-actuated arms

  • Control

    Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces

  • 3D Perception

    Connect to depth sensors and point clouds with Octomaps

  • Collision Checking

    Avoid obstacles using geometric primitives, meshes, or point cloud data

Companies using MoveIt

Nasa logo Google logo Microsoft logo Fetch robotics logo Franka Emika logo Pal Robotics logo RTR logo Kinova logo

3D Interactive Visualizer

Out-of-the box visual demonstrations in Rviz allow new users experimentation with various planning algorithms around obstacles. Execution on physical hardware is then just a click away.

Rviz Motion Planning Plugin
Gazebo Simulation
Cutting edge

Gazebo Simulation

Speed up development and testing cycles by leveraging a full physics-based simulator with MoveIt. Combine Gazebo, ROS Control, and MoveIt for a powerful robotics development platform.

Easy to use

Setup Assistant

Quickly setup any robot to work with MoveIt with the step-by-step configuration wizard, or use popular pre-configured setups. Also includes configuration of Gazebo and ROS Control.

Setup Assistant
MoveIt Task Constructor

Task Constructor

A flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks.


Grasp Generation

Libraries for geometric and machine learning-based grasp generation for use with the MoveIt pick and place pipeline.

MoveIt Grasps

Why MoveIt?

MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use.

By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

MoveIt 2.2 Galactic Geochelone


September 2020

Initial Development 14 September 2020

Feature Freeze 30 May 2021

Official Release 30 June 2021

June 2021


Galactic 2.2

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In Development

Foxy 2.1 LTS

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Noetic 1.1 LTS

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