MoveIt 2 Source Build - Windows

Installing MoveIt 2 from source is the first step in contributing new features, optimizations, and bug fixes back to the open source project. Thanks for getting involved!



Install the ros-foxy-desktop metapackage. You can can install it with the ROS on Windows Installation Instructions.

Create Workspace and Source

Create a colcon workspace:

set COLCON_WS=C:\ws_moveit2\
mkdir %COLCON_WS%\src
cd %COLCON_WS%\src

Download Source Code

Download the foxy branch of the moveit2 repository. The required dependencies to build moveit2 are included in ros-foxy-desktop.


git clone -b foxy

Build MoveIt

Currently warehourse_ros_mongo is not supported on windows so it is ignored when building:

set IGNORED_PACKAGES=warehouse_ros_mongo

Configure and build the workspace:

colcon build --packages-skip-by-dep %IGNORED_PACKAGES%  --packages-skip %IGNORED_PACKAGES% --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Source the Colcon Workspace


Quick Start

Check out the MoveIt 2 Tutorials on how to get started with simple demo packages.

MoveIt 2 Tutorials