MoveIt Motion Planning Framework

The most widely used open-source motion planning framework for robot arms, built on ROS.

MoveIt is an open-source, ROS-based motion planning framework for robot arms. It originated at Willow Garage and is now led by PickNik Robotics together with the community; the ROS 2 version is called MoveIt 2. It packages together a set of commonly needed arm capabilities: inverse kinematics (computing joint angles from a desired end-effector pose), calling planners such as OMPL to find a collision-free path, using a collision-checking library to detect self-collision and collisions with the environment, and adding velocity and timing information to a path before handing it to a controller for execution. Its Setup Assistant can generate an SRDF and configuration package from a URDF, and an RViz plugin lets users drag the end effector and plan interactively. Traditional teaching and pick-and-place pipelines rely on it heavily; learned policies that output actions directly often bypass it.

ExampleImport a Franka arm's URDF with the MoveIt Setup Assistant, generate a configuration package, then drag the end-effector marker in RViz and click Plan & Execute to move the arm around obstacles to a target pose.

Also called

MoveIt 2, MoveIt2

Related

Open Motion Planning Library (OMPL) · Motion Planning · Inverse Kinematics (IK) · Semantic Robot Description Format (SRDF) · RViz / RViz2 · cuRobo (NVIDIA GPU-accelerated motion planning)

Sources

MoveIt 官网 (Chinese)
MoveIt 2 文档 (Chinese)