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MoveIt! Tutorials

These tutorials will run you through how to use MoveIt! with your robot. It is assumed that you have already configured MoveIt! for your robot - check the list of robots running MoveIt! to see whether MoveIt! is already available for your robot. Otherwise, skip to the tutorial on Setting up MoveIt! for your robot. If you just want to test MoveIt!, use the PR2 as your quick-start robot.

Note

All tutorials referencing the PR2 have only been tested with ROS Indigo but likely work with ROS Jade. See issue for more information.

Previous version of these tutorials: ROS Indigo

Beginner

The primary user interface to MoveIt! is through the move_group_interface. You can use this interface both through C++ and Python. A GUI-based interface is available through the use of the MoveIt! Rviz Plugin. We will walk through each of these interfaces in detail:

.. toctree::
   :maxdepth: 1

   doc/ros_visualization/visualization_tutorial
   doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial
   doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial

Advanced

This set of advanced tutorials is meant for developers who are using MoveIt!’s C++ API. Most users wanting to access MoveIt! in C++ or Python should use the move_group_interface (above).

.. toctree::
   :maxdepth: 1

   doc/pr2_tutorials/kinematics/src/doc/kinematic_model_tutorial
   doc/pr2_tutorials/planning/src/doc/planning_scene_tutorial
   doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial
   doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial
   doc/pr2_tutorials/planning/src/doc/planning_pipeline_tutorial
   doc/collision_contact_tutorial
   doc/time_parameterization_tutorial
   doc/fake_controller_manager_tutorial
   doc/ros_visualization/joystick.rst
   doc/custom_constraint_samplers
   doc/benchmarking_tutorial
   doc/tests

Integration with New Robot

Before attempting to integrate a new robot with MoveIt!, check whether your robot has already been setup (see the list of robots running MoveIt!). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt! (and share your results on the MoveIt! mailing list)

.. toctree::
   :maxdepth: 1

   doc/setup_assistant/setup_assistant_tutorial
   doc/pr2_tutorials/planning/src/doc/controller_configuration
   doc/pr2_tutorials/planning/src/doc/perception_configuration
   doc/ikfast_tutorial
   doc/trac_ik_tutorial

Configuration

.. toctree::
   :maxdepth: 1

   doc/pr2_tutorials/kinematics/src/doc/kinematics_configuration
   doc/ompl_interface_tutorial
   doc/chomp_interface_tutorial

Attribution

The original MoveIt! tutorials were created by Sachin Chitta, Dave Hershberger, and Acorn Pooley at SRI International. Further improvements have been made by Dave Coleman, Michael Gorner, and Francisco Suarez. Please help us improve these docs!