Installation

Here’s how you install MoveIt and its related tools for ROS2 Foxy. This should handle everything you need for the remainder of this section. MoveIt2 is a little strange in that you can’t install it from apt – instead, you install it into its own separate ROS2 workspace, and then source that to bring MoveIt tools into your ROS2 environment.

LinuxmacOS

sudo apt install python3-rosdep2
rosdep update
sudo apt update
sudo apt dist-upgrade
sudo apt install python3-colcon-common-extensions
sudo apt install python3-vcstool
mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src

git clone https://github.com/ros-planning/moveit2.git
wget https://raw.githubusercontent.com/ros-planning/moveit2/main/moveit2.repos
vcs import < moveit2.repos
wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/main/moveit2_tutorials.repos
vcs import < moveit2_tutorials.repos

cd ~/ws_moveit2/src
rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y
echo 'source ~/ws_moveit2/install/setup.bash' >> ~/.bashrc

Finally, relaunch your terminal.

To ensure installation was successful, try running:

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true

You should get no errors in the console, and you should be presented with a blank word in rviz2. If you click “Add” in the bottom left-hand corner and select “MotionPlanning”, the motion planning interface should pop up, along with the Panda robot.