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MoveIt: Open-Source Robotic Manipulation Framework for Seamless Robot Operation

MoveIt Motion Planning Framework

MoveIt: The leading open-source robotic manipulation framework. Integrate motion planning, 3D perception, and control for seamless robot operation. Used by over 150 robots worldwide.

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MoveIt: Open-Source Robotic Manipulation Framework for Seamless Robot Operation

MoveIt Motion Planning Framework

MoveIt is a state-of-the-art, open-source software framework for robotic manipulation. It's widely used across research and industry, powering over 150 robots worldwide. This framework integrates cutting-edge advancements in motion planning, manipulation, 3D perception, kinematics, control, and navigation, making it a comprehensive solution for mobile manipulation tasks.

Key Features

  • Motion Planning: Generate complex, high-degree-of-freedom trajectories that navigate cluttered environments, avoiding local minimums.
  • Manipulation: Analyze and interact with the environment, including grasp generation capabilities.
  • Inverse Kinematics: Solve for joint positions given a desired pose, even for over-actuated robotic arms.
  • Control: Execute time-parameterized joint trajectories to low-level hardware controllers through various common interfaces.
  • 3D Perception: Integrate with depth sensors and point clouds using Octomaps for robust collision avoidance.
  • Collision Checking: Safely navigate obstacles using geometric primitives, meshes, or point cloud data.
  • Powerful 3D Interactive Visualizer (Rviz): Experiment with planning algorithms and visualize robot movements in a 3D environment. Transitioning to real-world execution is seamless.
  • Cutting-Edge Gazebo Simulation: Accelerate development and testing using a physics-based simulator. Combine Gazebo, ROS Control, and MoveIt for a powerful robotics development platform.
  • Easy-to-Use Setup Assistant: Quickly configure any robot for use with MoveIt using a step-by-step wizard or leverage pre-configured setups. Includes Gazebo and ROS Control configuration.
  • Advanced Task Constructor: Define and plan complex actions composed of multiple interdependent subtasks.
  • Intelligent Grasp Generation: Utilize libraries for geometric and machine learning-based grasp generation within the MoveIt pick-and-place pipeline.

Why Choose MoveIt?

MoveIt's popularity stems from its comprehensive feature set, open-source nature (BSD license), and active community support. Its suitability for industrial, commercial, and research applications makes it a versatile and powerful tool for robotics development.

Versions

MoveIt offers various versions compatible with different ROS distributions. Check the official website for the latest releases and support information.

MoveIt Pro

MoveIt Pro provides commercially supported versions of the MoveIt software, offering additional features and support for industrial applications.

Conclusion

MoveIt is a leading motion planning framework, providing a robust and versatile solution for a wide range of robotic manipulation tasks. Its open-source nature, extensive features, and active community make it a valuable asset for both researchers and industry professionals.

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