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The MoveIt! Motion Planning Framework

This is the new unified repository for MoveIt! code. For more information about MoveIt! see moveit.ros.org.

Travis - Continuous Integration	Coveralls - Coverage

ROS Buildfarm	Trusty Devel Source	AMD64 Trusty Debian
moveit_core
moveit_ros
moveit_ros_benchmarks
moveit_ros_benchmarks_gui
moveit_ros_manipulation
moveit_ros_move_group
moveit_ros_perception
moveit_ros_planning
moveit_ros_planning_interface
moveit_ros_robot_interaction
moveit_ros_visualization
moveit_ros_warehouse
moveit_planners
moveit_setup_assistant
moveit_plugins
moveit_ikfast
moveit_commander

The automated script for merging repos is located here. To copy your code changes on your own machine into the same unified structure, simply copy the previously separated packages as subfolders in this new unified repository.

Currently, this repo builds successfully in Kinetic.

Note: this package has not been released yet otherwise use: sudo apt-get install ros-kinetic-moveit-desktop-full

To build this package in a new workspace:

mkdir -p ws_moveit/src
cd ws_moveit/src
wstool init .
wstool merge https://raw.githubusercontent.com/orajput/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro kinetic
# In ROS Kinetic and Ubuntu 16.04, the above command produces an error 'moveit_commander: No definition of [python-pyassimp] for OS version [xenial]'. Run 'sudo apt-get install python-pyassimp'. However, this error will continue to  persist. 
cd ..
catkin build

A Docker container is available for testing in moveit_docker

Please send PRs for new helper functions, fixes, etc!