MoveIt

MoveIt is a comprehensive framework for robot motion planning, manipulation, and kinematics, built for ROS. It incorporates the latest advancements in 3D perception, control, and navigation, making it a state-of-the-art solution for mobile manipulation.

Key features include:

• Motion Planning: Generate complex trajectories in cluttered environments, avoiding local minima.
• Manipulation: Analyze and interact with environments through integrated grasp generation.
• Inverse Kinematics: Solve for joint positions of over-actuated arms given a desired pose.
• Control: Execute time-parameterized joint trajectories to hardware controllers.
• 3D Perception: Interface with depth sensors and point clouds using Octomaps.
• Collision Checking: Detect and avoid obstacles using various geometric representations.

MoveIt offers a 3D Interactive Visualizer for experimenting with planning algorithms in Rviz, and seamless integration with Gazebo Simulation for accelerated development and testing. The Setup Assistant simplifies robot configuration for MoveIt, Gazebo, and ROS Control. For complex sequences, the Task Constructor provides a flexible way to plan interdependent subtasks. Additionally, Grasp Generation libraries support both geometric and machine learning-based approaches.

Released under the BSD license, MoveIt is free for industrial, commercial, and research use. It is the most widely adopted software for robot manipulation. The latest stable release is Jazzy 2.12 LTS for ROS 2.