README.md

The MoveIt Motion Planning Framework for ROS 2

We are currently working on the upcoming Beta version of MoveIt 2. See the MoveIt's website homepage for release dates and this document for our immediate migration progress.

Implementation instructions for the ROS 2 migration process can be found in our Migration Guidelines.

Build from Source

Note: Currently, only the moveit_core packages are being compiled.

These instructions assume you are running on Ubuntu 18.04.

1. Install ROS2 Eloquent (Make sure to set export CHOOSE_ROS_DISTRO=Eloquent and to source /opt/ros/eloquent/setup.bash)

2. Install ROS2 Build Tools

3. Create a colcon workspace:

    export COLCON_WS=~/ws_ros2/
    mkdir -p $COLCON_WS/src
    cd $COLCON_WS/src
   

4. Download the repository and install any dependencies:

    git clone git@github.com:ros-planning/moveit2.git
    vcs import < moveit2/moveit2.repos
    rosdep install -r --from-path . --ignore-src --rosdistro eloquent -y
   

5. Configure and build the workspace:

    cd $COLCON_WS
    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
   

6. Source the workspace:

    source $COLCON_WS/install/local_setup.bash
   

Roadmap

The MoveIt Motion Planning Framework for ROS 2.0

• Milestones
• Overview of MoveIt!
• Installation Instructions
• Documentation
• Get Involved
• Migration Guidelines

Continuous Integration Status

Docker Containers

TODO Create ROS2 Docker containers for MoveIt!

ROS Buildfarm

Debian releases of MoveIt2 will not be available during the alpha development stage. Check back May 2019.