MoveIt 2 Source Build - Linux
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:
- Ubuntu 18.04 / ROS 2 Eloquent
- Ubuntu 20.04 / ROS 2 Foxy (Releasing July 2020)
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 18.04.
Prerequisites
Install 
Install ROS2 Eloquent following the installation instructions. Use the desktop installation and don’t forget to source the setup script.
Install ROS2 Build Tools up until setting up rosdep (we’re using slightly different steps for setting up our workspace)
Create Workspace and Source
Create a colcon workspace:
export COLCON_WS=~/ws_ros2/
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src
Download Source Code
Download the repository and install any dependencies:
git clone https://github.com/ros-planning/moveit2.git -b master
vcs import < moveit2/moveit2.repos
rosdep install -r --from-paths . --ignore-src --rosdistro eloquent -y
Build MoveIt
Configure and build the workspace:
cd $COLCON_WS
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
Source the Catkin Workspace
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 .bashrc (recommended):
source $COLCON_WS/install/setup.bash
Quick Start
We’ve prepared a simple demo setup that you can use for quickly spinning up a simulated robot environment with MoveItCpp.