moveit/moveit2

:robot: MoveIt for ROS 2

What it solves

MoveIt 2 provides a comprehensive platform for robotic manipulation, simplifying the process of developing commercial applications, prototyping new robot designs, and benchmarking motion planning algorithms.

How it works

It functions as a motion planning framework built for ROS 2, offering a suite of tools and packages (such as moveit_core, moveit_kinematics, and various planners like OMPL, CHOMP, and STOMP) to handle the complexities of moving a robot arm or manipulator from one point to another.

Who it’s for

This project is designed for robotics developers, researchers prototyping robot designs, and engineers building commercial robotic manipulation software.

Highlights

  • Built specifically for the ROS 2 ecosystem.
  • Supports multiple motion planning algorithms including OMPL, CHOMP, and STOMP.
  • Provides specialized packages for kinematics and hybrid planning.
  • Offers Python bindings via moveit_py for easier scripting.

Related

  • Project
    moveit/moveit

    An open-source robotics manipulation platform for ROS that provides tools for motion planning, prototyping, and benchmarking algorithms.

  • Project
    AndrejOrsula/pymoveit2

    A Python interface for MoveIt 2 that simplifies robotic arm and gripper control through ROS 2 actions and services.

  • Project
    UniversalRobots/Universal_Robots_ROS2_Driver

    A ROS2 driver for Universal Robots manipulators that enables hardware communication, motion planning via MoveIt2, and integration of ROS2 behaviors into industrial cobots.

  • Project
    ros-controls/ros2_controllers

    A collection of generalized, ready-to-use controllers for the ros2-control framework, compatible with MoveIt2 and Nav2.

  • Project
    ros-navigation/navigation2

    Nav2 is a professional navigation framework for ROS 2 that enables autonomous mobile robots to plan paths and navigate environments while avoiding obstacles.