License

MoveIt is open source and released under the BSD License v3. Each individual file in the MoveIt source code should contain a copy of the license.

Source Code

MoveIt code is hosted on github in the ros-planning organization in the following repos:

moveit - Main repo of MoveIt, contains the following packages:
- moveit - Metapackage
- moveit_core - Core functionality including RobotModel, RobotState, collision checking
- moveit_ros_planning - planning components, execution manager, plugin loaders
- moveit_ros_move_group - The move_group main node for using MoveIt via ROS messages
- moveit_ros_planning_interface - Python and ROS msg interfaces to communicate with move_group
- moveit_ros_perception - Octomap and other perception plugins
- moveit_ros_manipulation - High level pick and place pipeline
- moveit_ros_robot_interaction - Interative marker tools for Rviz
- moveit_ros_visualization - Rviz tools
- moveit_ros_warehouse - Database plugins for storing scene and configuration data
- moveit_ros_benchmarks - Benchmarking using PlannerArena
- moveit_ros - Metapackage
- moveit_planners - Metapackage
- moveit_planners_ompl - Open Motion Planning Library plugin
- moveit_commander - terminal-based control interface using Python-like syntax
- moveit_setup_assistant - GUI for quickly setting up MoveIt
- moveit_plugins - plugins for controller managers
- chomp_motion_planner - Gradient Optimization Techniques for Efficient Motion Planning
- chomp_interface - adapter for using CHOMP with MoveIt
moveit_msgs - ROS messages
moveit_robots - Robot specific MoveIt configuration packages
moveit_resources - large file assets such as testing robots
moveit_task_constructor - An approach to hierarchical, multi-stage manipulation planning
moveit_visual_tools - display and debugging data in Rviz
moveit_advanced - Experimental advanced capabilities
moveit_pr2 - PR2 specific MoveIt configuration and plugins
rqt_moveit - Plugin for the GUI framework of ROS, RQT
srdfdom - Semantic Robot Description Format
warehouse_ros - Abstract interface for persisting ROS message data
random_numbers - package for generating random numbers

For completeness, the following two repos are where documentation can be found:

moveit.ros.org - this main website
moveit_tutorials - step by step examples for learning MoveIt

In addition, the following repos exist for testing:

moveit_ci - script to run with Travis for continuous integration
moveit_kinematics_tests - experimental repo with tests

Code Health

We use Travis continous integration combined with the moveit_ci for testing pull requests and overall code health. Travis status badges should be visible on the README.md of every MoveIt repository.

To see an overview of the activity for MoveIt check our Open HUB Project Summary.