MoveIt 1 Binary Install

We're thrilled you're ready to start using MoveIt!

Choose which platform to install pre-built MoveIt on:

Prereq: Install

Follow all the instructions to install ROS Kinetic, including calls to rosdep

Install on Ubuntu 16.04

ROS Kinetic
sudo apt-get install ros-kinetic-moveit

Quick Start

Start planning in Rviz with:

MoveIt Getting Started Tutorial

Prereq: Install

Follow all the instructions to install ROS Melodic, including calls to rosdep

Install on Ubuntu 18.04

ROS Melodic
sudo apt-get install ros-melodic-moveit

Quick Start

Start planning in Rviz with:

MoveIt Getting Started Tutorial

Prereq: Install

Follow all the instructions to install ROS Melodic on Windows.

Install on Windows 10

ROS Melodic - Experimental

Open an elevated ROS Command Window as described in the installation instructions. Use Chocolatey to Download the ROS on Windows with MoveIt packages:

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1

Chocolatey should have been installed while following the ROS on Windows instructions. Next, make sure your ROS install is latest:

choco upgrade ros-melodic-moveit -y --execution-timeout=0

Make sure you have the most up to date packages:

rosdep update

Quick Start

Create Workspace for MoveIt Tutorials

Open a new ROS Command Window. Create a workspace and download the example code:

mkdir c:\moveit_ws\src
cd c:\moveit_ws\src
git clone https://github.com/ros-planning/moveit_tutorials.git -b melodic-devel
git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel
git clone https://github.com/frankaemika/franka_ros-release -b release/kinetic/franka_description
cd c:\moveit_ws
catkin_make

After it is built, source the catkin workspace:

c:\moveit_ws\devel\setup.bat

MoveIt Quickstart in RViz

Now you are ready to start planning in Rviz with:

MoveIt Getting Started Tutorial

Install on Mac

Our appologies, there are currently no documented instructions for MoveIt 1 on OSX. Various users have reported mixed results building MoveIt on OSX.

MoveIt 2 has much better reported support for OSX.

Please contribute any documentation you have to this Github repo, thanks!

Other Setups

Source Build: Linux

See build instructions

Source Build: Windows

See build instructions

Older Versions

For previous versions, see the bottom of Source Installation Instructions for unsupported versions of MoveIt

Virtual Machines

We recommend developing with MoveIt on a native Ubuntu install. If you are unable to run Linux natively on your machine, the next best thing would be to set up a virtual machine using VMware. There are known issues with the ROS visualization tool RViz when used with VirtualBox - be sure to enable virtualization in your BIOS.

About Our Release Process

MoveIt is released every few months into Ubuntu debian packages via the ROS infrastructure. For more information see the ROS target platforms and MoveIt’s release process.