MoveIt 2 is a robotic manipulation platform for ROS 2 designed for building, prototyping, and benchmarking robot applications.
It brings together motion planning, kinematics, 3D perception, control, and navigation capabilities, and the repository includes core planning libraries, ROS integration, Python bindings, runtime components, and the MoveIt Setup Assistant for configuring robots.
This is free and open source software.
Key Features
- Supports an extensible motion planning pipeline with plugin-based planners, including OMPL as the default option, plus Pilz and CHOMP.
- Includes the MoveIt Setup Assistant to generate SRDF and other configuration files from a robot URDF.
- Provides a planning scene monitor for tracking robot state, world geometry, collision objects, and occupancy maps.
- Offers Python bindings through moveit_py, including pose-goal planning, planning scene operations, and parallel multi-pipeline planning.
- Includes a hybrid planning architecture that combines global and local planners for more reactive motion in dynamic environments.
Website: github.com/moveit/moveit2
Support:
Developer: moveit
License: BSD 3-Clause License
MoveIt 2 is written in C++. Learn C++ with our recommended free books and free tutorials.
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