MoveIt 2 Status Update and Feature Comparison
With the release of ROS 2 Galactic, we would like to share the new features only available in MoveIt 2. We hope to encourage the community to upgrade to MoveIt 2 as soon as possible. MoveIt 2 is out of beta.
|MoveIt 1||MoveIt 2|
|ROS 1 Support||✓||via ros1_bridge|
|ROS 2 Support||✕||✓|
|Setup Assistant||✓||in development|
|MoveIt Task Constructor||✓||active fork|
|Game Controller Integration for Servo||✓||✓|
|Industrial Trajectory Generator||✓||planned|
|Probabilistically complete Cartesian Planning||Stale Patch||✓|
|Composable Nodes||nodelet subsystem||✓|
|Planning for Differential Drive Bases||✕||✓|
|Hybrid Planning (global + local planners)||✕||pending|
|Based on Realtime Capable DDS Messaging||✕||✓|
|Native Windows Build||via RoboStack||in development|
|New Feature Development by PickNik||✕||✓|
|Development Coordinated with ROS 2 Technical Steering Committee||✕||✓|
|Built for Industrial Security||✕||✓|
For more details, see the MoveIt Roadmap and Upcoming Features.
Status Update for MoveIt 2 on Galactic & Rolling
As of June 8th 2021, we have an experimental chain of PRs that enable compiling on Rolling, but it requires a complicated workspace setup. However, MoveIt 2 Foxy is stable.
We are looking for help from upstream maintainers to release their packages so that MoveIt Galactic can be released. We are also facing challenges relating to pre-release testing of packages and debugging packages failing on the buildfarm. When these two issues are resolved we will have a Galactic and Rolling release.
There has been a lot of recent progress in porting the tutorials to MoveIt 2. We look forward to the official release of MoveIt 2 Galactic on June 30th!