Draft:MoveIt
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Comment: See WP:BACKWARD. guninvalid (talk) 08:12, 26 August 2026 (UTC)
- Comment: In accordance with the Wikimedia Foundation's Terms of Use, I disclose that I have been paid by my employer for my contributions to this article. Dave (talk) 19:46, 18 July 2026 (UTC)
| MoveIt | |
|---|---|
| Developer | Open-source contributors |
| Release | 2012[1] |
| Written in | C++, Python |
| Operating system | Linux |
| Platform | Robot Operating System |
| Type | Motion planning framework |
| License | BSD 3-Clause[2] |
| Website | moveit |
MoveIt (formerly styled MoveIt!) is an open-source framework for motion planning and robotic manipulation in the Robot Operating System (ROS). It integrates motion planning, collision detection, kinematics, perception and trajectory execution, and is designed for use with different robotic manipulators rather than a specific robot.[1][3]
Developed at Willow Garage and introduced in 2012, MoveIt is released under the BSD 3-Clause license.[1][2] A 2023 review in Robotics and Computer-Integrated Manufacturing described it as the primary software library for motion planning and mobile manipulation in ROS and as the core motion planning library used by the ROS-Industrial project.[4] Independent researchers have benchmarked its motion planners and examined limitations affecting its use in research and industrial applications.[5][6][4]
History
[edit]MoveIt was developed at Willow Garage, the laboratory that also created ROS, as the successor to the laboratory's earlier arm navigation software.[3] It was introduced in a 2012 column by Chitta, Șucan and Steve Cousins in IEEE Robotics & Automation Magazine.[1]
MoveIt 2, the framework's port to ROS 2, was announced as a beta in February 2020, with the stated aim of supporting faster and more reactive planning through real-time control; its development was led by PickNik Robotics.[7]
Design
[edit]MoveIt is designed to be independent of any particular robot. A robot is described by a URDF model together with configuration produced by a graphical setup assistant, after which the framework provides planning, kinematics and collision checking for that robot without robot-specific application code.[3][6] A 2023 review highlighted this robot independence, noting that it allows the framework to be used with manipulators of differing structures from many vendors.[4]
Rather than implementing a single planning algorithm, MoveIt provides interfaces through which different motion planners, inverse kinematics solvers and collision-checking systems can be substituted through configuration. Its default planning backend uses the Open Motion Planning Library (OMPL) of sampling-based planners, and trajectory optimization is available through the same mechanism.[3][6]
The framework maintains a planning scene, a combined representation of the robot's kinematic state and a model of its surroundings built from 3D sensor data and known collision objects, against which candidate motions are checked.[1][3]
Higher-level extensions include the MoveIt Task Constructor, which represents manipulation tasks as sequences of interdependent planning stages.[8]
Applications
[edit]MoveIt was developed initially on Willow Garage's PR2 robot and has since been used with manipulators including the Fetch mobile manipulator and NASA's Robonaut 2.[6] Tooling built on the framework has been used at NASA to evaluate handrail grasps and plan motion for Robonaut 2 climbing through the interior of the International Space Station.[6]
Researchers have also adapted MoveIt to free-floating manipulation. Youakim and colleagues used it with an underwater vehicle-manipulator system, performing valve-turning and hot-stabbing with a four-degree-of-freedom arm.[9] The 2023 review reported that MoveIt was used in over 150 robots.[4]
Research and evaluation
[edit]Independent groups have benchmarked the framework. Meijer, Lei and Wisse compared the sampling-based OMPL planners available in MoveIt across three manipulators on grasping problems, measuring solved runs, computation time and path length, and made recommendations for planner selection.[5] Grushko and colleagues benchmarked MoveIt's perception and planning parameters to identify those most affecting performance, then tuned them using particle swarm optimization.[10] Jędrzejczyk and colleagues benchmarked its path planning algorithms for a pick-and-place task in tomato harvesting.[11]
Kingston and Kavraki, in developing the Robowflex interface, identified limitations in MoveIt's standard interface for benchmarking and modifying planners, and described extending it through plugins and configuring it directly as a library as comparatively complex.[6]
The 2023 review identified limitations for industrial applications involving runtime tool changing, control over end-effector paths and speeds, and synchronized dual-arm planning. It also noted that MoveIt's randomized sampling-based planners can produce different trajectories for repeated plans between the same poses.[4]
See also
[edit]References
[edit]- 1 2 3 4 5 Chitta, Sachin; Sucan, Ioan A.; Cousins, Steve (2012). "MoveIt! [ROS Topics]". IEEE Robotics & Automation Magazine. 19 (1): 18–19. doi:10.1109/MRA.2011.2181749.
- 1 2 "moveit/moveit2". GitHub. Retrieved 2026-07-17.
- 1 2 3 4 5 Coleman, David; Șucan, Ioan A.; Chitta, Sachin; Correll, Nikolaus (2014). "Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study". Journal of Software Engineering for Robotics. 5 (1): 3–16. arXiv:1404.3785. doi:10.6092/JOSER_2014_05_01_p3.
- 1 2 3 4 5 Malvido Fresnillo, Pablo; Vasudevan, Saigopal; Mohammed, Wael M.; Martinez Lastra, Jose L.; Perez Garcia, Jose A. (2023). "Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications". Robotics and Computer-Integrated Manufacturing. 83 102559. doi:10.1016/j.rcim.2023.102559.
- 1 2 Meijer, Jonathan; Lei, Qujiang; Wisse, Martijn (2017). "Performance study of single-query motion planning for grasp execution using various manipulators". 2017 18th International Conference on Advanced Robotics (ICAR). IEEE. pp. 450–457. doi:10.1109/ICAR.2017.8023648.
- 1 2 3 4 5 6 Kingston, Zachary; Kavraki, Lydia E. (2022). "Robowflex: Robot Motion Planning with MoveIt Made Easy". 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 3108–3114. arXiv:2103.12826. doi:10.1109/IROS47612.2022.9981698.
- ↑ Demaitre, Eugene (February 19, 2020). "MoveIt 2 enables realtime robot arm control with ROS 2". The Robot Report. Retrieved 2026-07-17.
- ↑ Görner, Michael; Haschke, Robert; Ritter, Helge; Zhang, Jianwei (2019). "MoveIt! Task Constructor for Task-Level Motion Planning". 2019 International Conference on Robotics and Automation (ICRA). pp. 190–196. doi:10.1109/ICRA.2019.8793898.
- ↑ Youakim, Dina; Ridao, Pere; Palomeras, Narcis; Spadafora, Francesco; Ribas, David; Muzzupappa, Maurizio (2017). "MoveIt!: Autonomous Underwater Free-Floating Manipulation". IEEE Robotics & Automation Magazine. 24 (3): 41–51. doi:10.1109/MRA.2016.2636369.
- ↑ Grushko, Stefan; Vysocký, Aleš; Jha, Vyomkesh Kumar; Pastor, Robert; Prada, Erik; Mikova, Lubica; Bobovský, Zdenko (2020). "Tuning perception and motion planning parameters for MoveIt! framework". MM Science Journal. 2020 (4): 4154–4163. doi:10.17973/MMSJ.2020_11_2020064.
- ↑ Jędrzejczyk, Filip; Bajer, Jarosław; Gawdzik, Grzegorz; Główka, Jakub; Sprońska, Agnieszka (2021). "Benchmark and Analysis of Path Planning Algorithms of "ROS MoveIt!" for Pick and Place Task in Tomato Harvesting". Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. Advances in Intelligent Systems and Computing. Springer. pp. 272–284. doi:10.1007/978-3-030-74893-7_26. ISBN 978-3-030-74892-0.
External links
[edit]Category:Robotics software Category:Free software programmed in C++ Category:Software using the BSD license Category:Robot Operating System Category:2012 software
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