These tutorials will quickly get you, and your robot, using the MoveIt Motion Planning Framework.
In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that has already been configured to work with MoveIt - check the list of robots running MoveIt to see whether MoveIt is already available for your robot. Otherwise, you can setup MoveIt to work with your custom robot in the tutorial section "Integration with a New Robot", below.
Getting Started with MoveIt and RViz
.. toctree:: :maxdepth: 1 doc/getting_started/getting_started doc/quickstart_in_rviz/quickstart_in_rviz_tutorial
MoveGroup - ROS Wrappers in C++ and Python
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.
.. toctree:: :maxdepth: 1 doc/move_group_interface/move_group_interface_tutorial doc/move_group_python_interface/move_group_python_interface_tutorial doc/moveit_commander_scripting/moveit_commander_scripting_tutorial
Using MoveIt Directly Through the C++ API
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.
.. toctree:: :maxdepth: 1 doc/robot_model_and_robot_state/robot_model_and_robot_state_tutorial doc/planning_scene/planning_scene_tutorial doc/planning_scene_ros_api/planning_scene_ros_api_tutorial doc/motion_planning_api/motion_planning_api_tutorial doc/motion_planning_pipeline/motion_planning_pipeline_tutorial doc/visualizing_collisions/visualizing_collisions_tutorial doc/time_parameterization/time_parameterization_tutorial doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial doc/pick_place/pick_place_tutorial doc/moveit_grasps/moveit_grasps_tutorial doc/subframes/subframes_tutorial
Integration with a New Robot
Before attempting to integrate a new robot with MoveIt, check whether your robot has already been setup (see the list of robots running MoveIt). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt (and share your results on the MoveIt mailing list)
.. toctree:: :maxdepth: 1 doc/setup_assistant/setup_assistant_tutorial doc/urdf_srdf/urdf_srdf_tutorial doc/controller_configuration/controller_configuration_tutorial doc/perception_pipeline/perception_pipeline_tutorial doc/ikfast/ikfast_tutorial doc/trac_ik/trac_ik_tutorial
.. toctree:: :maxdepth: 1 doc/kinematics_configuration/kinematics_configuration_tutorial doc/custom_constraint_samplers/custom_constraint_samplers_tutorial doc/ompl_interface/ompl_interface_tutorial doc/chomp_planner/chomp_planner_tutorial doc/stomp_planner/stomp_planner_tutorial doc/planning_adapters/planning_adapters_tutorial.rst
.. toctree:: :maxdepth: 1 doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial doc/benchmarking/benchmarking_tutorial doc/tests/tests_tutorial
Major contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman. Help us improve these docs and we'll be happy to include you here also!
The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik (Check out the blog post!)