Welcome to the unified MoveIt documentation, which includes tutorials, how-to-guides, core concepts, and more.
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 2 was first released in 2019; for ROS 1 documentation, see MoveIt 1 tutorials.
- :doc:`/doc/tutorials/tutorials` will walk you through creating your first project with MoveIt.
- :doc:`/doc/how_to_guides/how_to_guides` answers the question "How to do X with MoveIt?"
- :doc:`/doc/concepts/concepts` discusses the design of MoveIt.
- :doc:`/doc/how_to_contribute/how_to_contribute` is a place to learn about making changes to MoveIt and this website.
- :doc:`/doc/examples/examples` contains other useful pages that have not been adapted to the new layout of this site or are not yet ported from ROS 1.
- :doc:`/doc/api/api` will redirect you to a reference API page.
.. toctree:: :maxdepth: 2 doc/tutorials/tutorials doc/examples/examples doc/concepts/concepts doc/how_to_guides/how_to_guides doc/api/api doc/how_to_contribute/how_to_contribute
Some major past contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman, Tyler Weaver, David Lu!!, Vatan Tezer, and Andy Zelenak. These are just some of the 46+ Contributors over the years who have a big impact on this documentation.
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 Robotics (Check out the blog post!)
- The tutorials had another major update in 2022 during a doc-a-thon sponsored by PickNik Robotics.