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 primarily support ROS installed on Ubuntu 22.04 or 24.04. As I am using Humble Hawksbill, I will be walking you through the same process as mine.Note to source your version of ROS.
source /opt/ros/humble/setup.bash
Install rosdep to install system dependencies
sudo apt install python3-rosdep
Make sure all your packages are up-to-date
sudo rosdep init
rosdep update
sudo apt update
sudo apt dist-upgrade
No we will install an extension to Colcon to enable mixin (way of specifying multiple CLI args at the same time using one global keyword, eg ‘release’ or ‘debug’ etc),
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default <https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml>
colcon mixin update default
Install vcstool,
sudo apt install python3-vcstool
We will need a new colcon workspace setup,
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
git clone -b humble <https://github.com/moveit/moveit2_tutorials>
Next we will download the source code for the rest of MoveIt,
vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos
NOTE: The import command may ask for your GitHub credentials. You can just press Enter until it moves on (ignore the “Authentication failed” error).