MoveIt 1 Source Build - Windows

MoveIt 1.0

Binary Install

Source Build: Linux

Source Build: Windows

Docker Install

MoveIt 2.0

Binary Install: Linux

Binary Install: Windows

Source Build: Linux

Source Build: Windows

Installing MoveIt from source is the first step in contributing new features, optimizations, and bug fixes back to the open source project. Thanks for getting involved!

Prerequisites

ROS for Windows requires 64-bit Windows 10 Desktop or Windows 10 IoT Enterprise.

Currently only ROS Melodic is supported on Windows.

Install

Follow all the Install ROS on Windows instructions to install the Last Known Good (LKG) Build Installation for Melodic.

MoveIt Source Installation on Windows

Open an elevated ROS Command Window as described in the installation instructions (x64 Native Tools Command Prompt).

Create Workspace and Source

Optionally create a new workspace, you can name it whatever:


        :: activate the ROS environment

        c:\opt\ros\melodic\x64\setup.bat

        

        :: create a empty workspace

        mkdir c:\moveit_ws\src

        cd c:\moveit_ws

Download Dependencies

In the same ROS Command Window run the following to obtain the dependencies for MoveIt.


        pushd c:\moveit_ws

        

        :: generate the released package sources list and its ROS dependencies

        rosinstall_generator moveit msft_ros_pkgs moveit_resources moveit_tutorials moveit_visual_tools pcl_ros --rosdistro melodic --deps --upstream-development --exclude octomap > build.rosinstall

        

        :: download the source list to override specific packages with the ms-iot versions

        curl -o overrides.rosinstall https://raw.githubusercontent.com/ms-iot/ros-windows-build/master/ros-catkin-build/melodic/build.rosinstall

        

        :: checkout the sources from the above lists

        wstool init src

        wstool merge -r -y -t src build.rosinstall

        wstool merge -r -y -t src overrides.rosinstall

        wstool update -t src

        

        :: attempt to acquire the external dependencies

        set ChocolateyInstall=c:\opt\chocolatey

        choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1

        rosdep update

        rosdep install --from-paths src --ignore-src -r -y

        pip install --upgrade --force-reinstall cmake==3.16.3

Build MoveIt and Dependencies

Run the following to build MoveIt. Note this may take over an hour.


        pushd c:\moveit_ws

        

        copy src\catkin\bin\catkin_make_isolated src\catkin\bin\catkin_make_isolated.py

        

        python src\catkin\bin\catkin_make_isolated.py ^

        --install-space "c:/opt/ros/melodic/x64" ^

        --use-nmake ^

        --install ^

        --only-pkg-with-deps ^

        msft_ros_pkgs moveit_resources moveit_tutorials moveit_visual_tools pcl_ros ^

        -DCMAKE_BUILD_TYPE=RelWithDebInfo ^

        -DCMAKE_PREFIX_PATH="C:/opt/ros/melodic/x64;C:/opt/rosdeps/x64" ^

        -DCMAKE_VERBOSE_MAKEFILE=ON ^

        -DPYTHON_VERSION=2.7 ^

        -DPYTHON_EXECUTABLE=C:\opt\python27amd64\python.exe ^

        -DPYTHON_LIBRARIES=C:\opt\python27amd64\Libs ^

        -DCATKIN_SKIP_TESTING=ON