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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!
MoveIt is mainly supported on Linux, and the following build instructions support in particular:
In the future, we would like to expand our source build instructions to more OS’s, please contribute instruction write-ups to this repo.
These instructions assume you are running on Ubuntu 22.04 (Humble, Rolling), or Ubuntu 20.04 (Foxy, Galactic).
Install ROS 2 Foxy, Galactic, Humble, or Rolling following the installation instructions. We recommend Humble for stable latest LTS distribution needs, and Rolling for contributing to MoveIt 2. Currently the main branch of MoveIt 2 is supported on both Rolling and also Humble, but since it’s used for latest development, it’s unstable. For stable versions, please use the distro branches foxy, galactic, or humble.
Use the desktop installation and don’t forget to source the setup script.
Make sure you have the latest versions of packages installed:
sudo apt update sudo apt dist-upgrade rosdep update
sudo apt install -y \ build-essential \ cmake \ git \ libbullet-dev \ python3-colcon-common-extensions \ python3-flake8 \ python3-pip \ python3-pytest-cov \ python3-rosdep \ python3-setuptools \ python3-vcstool \ wget \ clang-format-10 && \ # install some pip packages needed for testing python3 -m pip install -U \ argcomplete \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-docstrings \ flake8-import-order \ flake8-quotes \ pytest-repeat \ pytest-rerunfailures \ pytest
Create a colcon workspace:
export COLCON_WS=~/ws_moveit2/ mkdir -p $COLCON_WS/src cd $COLCON_WS/src
Download the repository and install any dependencies. Issue the relevant commands for your ROS distribution.
git clone https://github.com/ros-planning/moveit2.git -b $ROS_DISTRO for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
git clone https://github.com/ros-planning/moveit2.git -b main for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
The rest of the commands are same for every distribution.
Configure and build the workspace:
cd $COLCON_WS colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
Setup your environment - you can do this every time you work with this particular source install of the code, or you can add this to your
Check out the MoveIt 2 Tutorials on how to get started with simple demo packages.