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 20.04 / ROS 2 Foxy Fitzroy

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 20.04.

Prerequisites

Install

Install ROS2 Foxy 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 main
vcs import < moveit2/moveit2.repos
rosdep install -r --from-paths . --ignore-src --rosdistro foxy -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 Colcon 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.

MoveItCpp Demo Package