This is a catch-all place for pages that have not yet been updated for the new structure or are still not yet ported from ROS 1.
To migrate these pages into the new structure please see the appropriate pages under /doc/how_to_contribute/how_to_contribute.
The simplest way to use MoveIt through scripting is using the move_group_interface. This interface is ideal for beginners and provides unified access to many of the features of MoveIt.
move_group_interface/move_group_interface_tutorial
Building more complex applications with MoveIt often requires developers to dig into MoveIt’s C++ API. As an added plus, using the C++ API directly skips many of the ROS Service/Action layers resulting in significantly faster performance.
robot_model_and_robot_state/robot_model_and_robot_state_tutorial planning_scene/planning_scene_tutorial planning_scene_monitor/planning_scene_monitor_tutorial planning_scene_ros_api/planning_scene_ros_api_tutorial motion_planning_api/motion_planning_api_tutorial motion_planning_pipeline/motion_planning_pipeline_tutorial creating_moveit_plugins/plugin_tutorial visualizing_collisions/visualizing_collisions_tutorial time_parameterization/time_parameterization_tutorial planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial pick_place/pick_place_tutorial moveit_grasps/moveit_grasps_tutorial moveit_deep_grasps/moveit_deep_grasps_tutorial subframes/subframes_tutorial moveit_cpp/moveitcpp_tutorial bullet_collision_checker/bullet_collision_checker mobile_base_arm/mobile_base_arm_tutorial
The MoveIt Python API binds a subset of the C++ API. The Python API is useful for rapid prototyping and experimentation, or if you already are working within a Python development environment.
motion_planning_python_api/motion_planning_python_api_tutorial jupyter_notebook_prototyping/jupyter_notebook_prototyping_tutorial
Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the list of robots running MoveIt). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt.
setup_assistant/setup_assistant_tutorial urdf_srdf/urdf_srdf_tutorial controller_configuration/controller_configuration_tutorial perception_pipeline/perception_pipeline_tutorial hand_eye_calibration/hand_eye_calibration_tutorial ikfast/ikfast_tutorial
kinematics_configuration/kinematics_configuration_tutorial custom_constraint_samplers/custom_constraint_samplers_tutorial ompl_interface/ompl_interface_tutorial trajopt_planner/trajopt_planner_tutorial planning_adapters/planning_adapters_tutorial
dual_arms/dual_arms_tutorial hybrid_planning/hybrid_planning_tutorial realtime_servo/realtime_servo_tutorial tests/tests_tutorial