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The MoveIt! Motion Planning Framework

This is the new unified repository for MoveIt! code. For more information about MoveIt! see moveit.ros.org.

Status:

  • Build Status Travis - Continuous Integration
  • Build Status ROS Buildfarm - Trusty Devel Source Build
  • Build Status ROS Buildfarm - AMD64 Trusty Debian Build

About The Merged Repos

The automated script for merging repos is located here. To copy your code changes on your own machine into the same unified structure, simply copy the previously separated packages as subfolders in this new unified repository.

Currently this repo build in Jade but will soon build in Kinetic

Install

Ubuntu Debian

Note: this package has not been released yet

sudo apt-get install ros-kinetic-moveit-desktop-full

Build from Source

To build this package in a new workspace: TODO switch to kinetic

mkdir -p ws_moveit/src
cd ws_moveit/src
git clone https://github.com/davetcoleman/moveit.git
rosdep install --from-paths . --ignore-src --rosdistro jade

Build with Docker in a Container

After Docker is installed:

docker run -it ros:jade
wget https://raw.githubusercontent.com/davetcoleman/moveit_merge/master/test_in_docker.sh
./test_in_docker.sh

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!