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MoveIt 2 Documentation

Welcome to the unified MoveIt documentation, which includes tutorials, how-to-guides, core concepts, and more.

MoveIt 2 is the robotic manipulation platform for ROS 2, and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see MoveIt 1 tutorials.

https://moveit.ros.org/assets/images/roadmap.png

How-To Use This Website

Table Of Contents

.. toctree::
   :maxdepth: 2

   doc/tutorials/tutorials
   doc/examples/examples
   doc/concepts/concepts
   doc/how_to_guides/how_to_guides
   doc/api/api
   doc/how_to_contribute/how_to_contribute

Attribution

Some major past contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman, Tyler Weaver, David Lu!!, Vatan Tezer, and Andy Zelenak. These are just some of the 46+ Contributors over the years who have a big impact on this documentation.

Help us improve these docs and we'll be happy to include you here also!

Corporate Sponsorship

  • The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik Robotics (Check out the blog post!)
  • The tutorials had another major update in 2022 during a doc-a-thon sponsored by PickNik Robotics