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 18.04.
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 a colcon workspace:
export COLCON_WS=~/ws_ros2/ mkdir -p $COLCON_WS/src cd $COLCON_WS/src
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
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
We’ve prepared a simple demo setup that you can use for quickly spinning up a simulated robot environment with MoveItCpp.