base on :robot: MoveIt for ROS 2 <img src="http://moveit.ros.org/assets/logo/moveit_logo-black.png" alt="MoveIt Logo" width="200"/> The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the ROS 1 repository see [MoveIt 1](https://github.com/moveit/moveit). For the commercially supported version see [MoveIt Pro](http://picknik.ai/pro). *Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.* ## Continuous Integration Status [](https://github.com/moveit/moveit2/actions/workflows/format.yaml?query=branch%3Amain) [](https://github.com/moveit/moveit2/actions/workflows/ci.yaml?query=branch%3Amain) [](https://codecov.io/gh/moveit/moveit2) ## Getting Started See our extensive [Tutorials and Documentation](https://moveit.picknik.ai/). ## Install - [Binary Install](https://moveit.ros.org/install-moveit2/binary/) - [Source Build](https://moveit.ros.org/install-moveit2/source/) ## More Info - [How to Get Involved](http://moveit.ros.org/about/get_involved/) - [Development Roadmap](https://moveit.ros.org/documentation/contributing/roadmap/) - [Future Release Dates](https://moveit.ros.org/#release-versions) - [MoveIt 2 Migration Guidelines](doc/MIGRATION_GUIDE.md) - [MoveIt 2 Migration Progress](https://docs.google.com/spreadsheets/d/1aPb3hNP213iPHQIYgcnCYh9cGFUlZmi_06E_9iTSsOI/edit?usp=sharing) ## Supporters This open source project is maintained by supporters from around the world — see our [MoveIt Maintainers and Core Contributors](https://moveit.ros.org/about/). <a href="https://picknik.ai/"> <img src="https://picknik.ai/assets/images/logo.jpg" width="168"> </a> [PickNik Inc](https://picknik.ai/) is leading the development of MoveIt. If you would like to support this project, please contact [email protected]. <a href="http://rosin-project.eu"> <img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" > </a> The port to ROS 2 was supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: <a href="http://rosin-project.eu">rosin-project.eu</a>. <img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" > This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287. ## Generate API Doxygen Documentation See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html). # Buildfarm | Package | Rolling Binary | Jazzy Binary | Humble Binary | |:---:|:---:|:---:|:---:| | geometric_shapes | [](https://build.ros2.org/job/Rbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__geometric_shapes__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__geometric_shapes__ubuntu_jammy_amd64__binary) | | moveit | [](https://build.ros2.org/job/Rbin_uN64__moveit__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit__ubuntu_jammy_amd64__binary) | | moveit_common | [](https://build.ros2.org/job/Rbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_common__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_common__ubuntu_jammy_amd64__binary) | | moveit_configs_utils | [](https://build.ros2.org/job/Rbin_uN64__moveit_configs_utils__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_configs_utils__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_configs_utils__ubuntu_jammy_amd64__binary) | | moveit_core | [](https://build.ros2.org/job/Rbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_core__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_core__ubuntu_jammy_amd64__binary) | | moveit_hybrid_planning | [](https://build.ros2.org/job/Rbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_hybrid_planning__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_hybrid_planning__ubuntu_jammy_amd64__binary) | | moveit_kinematics | [](https://build.ros2.org/job/Rbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_kinematics__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_kinematics__ubuntu_jammy_amd64__binary) | | moveit_msgs | [](https://build.ros2.org/job/Rbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_msgs__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_msgs__ubuntu_jammy_amd64__binary) | | moveit_planners | [](https://build.ros2.org/job/Rbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_planners__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_planners__ubuntu_jammy_amd64__binary) | | moveit_planners_chomp | [](https://build.ros2.org/job/Rbin_uN64__moveit_planners_chomp__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_planners_chomp__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_chomp__ubuntu_jammy_amd64__binary) | | moveit_planners_ompl | [](https://build.ros2.org/job/Rbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_planners_ompl__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_ompl__ubuntu_jammy_amd64__binary) | | moveit_planners_stomp | [](https://build.ros2.org/job/Rbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_planners_stomp__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_planners_stomp__ubuntu_jammy_amd64__binary) | | moveit_plugins | [](https://build.ros2.org/job/Rbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_plugins__ubuntu_jammy_amd64__binary) | | moveit_py | [](https://build.ros2.org/job/Rbin_uN64__moveit_py__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_py__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_py__ubuntu_jammy_amd64__binary) | | moveit_resources | [](https://build.ros2.org/job/Rbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_resources__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_resources__ubuntu_jammy_amd64__binary) | moveit_ros | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros__ubuntu_jammy_amd64__binary) | | moveit_ros_benchmarks | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_benchmarks__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_benchmarks__ubuntu_jammy_amd64__binary) | | moveit_ros_move_group | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_move_group__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_move_group__ubuntu_jammy_amd64__binary) | | moveit_ros_occupancy_map_monitor | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_occupancy_map_monitor__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_occupancy_map_monitor__ubuntu_jammy_amd64__binary) | | moveit_ros_perception | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_perception__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_perception__ubuntu_jammy_amd64__binary) | | moveit_ros_planning | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning__ubuntu_jammy_amd64__binary) | | moveit_ros_planning_interface | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_planning_interface__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_planning_interface__ubuntu_jammy_amd64__binary) | | moveit_ros_robot_interaction | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_robot_interaction__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_robot_interaction__ubuntu_jammy_amd64__binary) | | moveit_ros_tests | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_tests__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_tests__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_tests__ubuntu_jammy_amd64__binary) | | moveit_ros_trajectory_cache | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_trajectory_cache__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_trajectory_cache__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_trajectory_cache__ubuntu_jammy_amd64__binary) | | moveit_ros_visualization | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_visualization__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_visualization__ubuntu_jammy_amd64__binary) | | moveit_ros_warehouse | [](https://build.ros2.org/job/Rbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_ros_warehouse__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_ros_warehouse__ubuntu_jammy_amd64__binary) | | moveit_runtime | [](https://build.ros2.org/job/Rbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_runtime__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_runtime__ubuntu_jammy_amd64__binary) | | moveit_servo | [](https://build.ros2.org/job/Rbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_servo__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_servo__ubuntu_jammy_amd64__binary) | | moveit_setup_app_plugins | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_app_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_app_plugins__ubuntu_jammy_amd64__binary) | | moveit_setup_assistant | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_assistant__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_assistant__ubuntu_jammy_amd64__binary) | | moveit_setup_controllers | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_controllers__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_controllers__ubuntu_jammy_amd64__binary) | | moveit_setup_core_plugins | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_core_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_core_plugins__ubuntu_jammy_amd64__binary) | | moveit_setup_framework | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_framework__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_framework__ubuntu_jammy_amd64__binary) | | moveit_setup_srdf_plugins | [](https://build.ros2.org/job/Rbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_setup_srdf_plugins__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_setup_srdf_plugins__ubuntu_jammy_amd64__binary) | | moveit_simple_controller_manager | [](https://build.ros2.org/job/Rbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__moveit_simple_controller_manager__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__moveit_simple_controller_manager__ubuntu_jammy_amd64__binary) | | pilz_industrial_motion_planner | [](https://build.ros2.org/job/Rbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__pilz_industrial_motion_planner__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner__ubuntu_jammy_amd64__binary) | | pilz_industrial_motion_planner_testutils | [](https://build.ros2.org/job/Rbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__pilz_industrial_motion_planner_testutils__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__pilz_industrial_motion_planner_testutils__ubuntu_jammy_amd64__binary) | | random_numbers | [](https://build.ros2.org/job/Rbin_uN64__random_numbers__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__random_numbers__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__random_numbers__ubuntu_jammy_amd64__binary) | | srdfdom | [](https://build.ros2.org/job/Rbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__srdfdom__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__srdfdom__ubuntu_jammy_amd64__binary) | | warehouse_ros | [](https://build.ros2.org/job/Rbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__warehouse_ros__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros__ubuntu_jammy_amd64__binary) | | warehouse_ros_sqlite | [](https://build.ros2.org/job/Rbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Jbin_uN64__warehouse_ros_sqlite__ubuntu_noble_amd64__binary) | [](https://build.ros2.org/job/Hbin_uJ64__warehouse_ros_sqlite__ubuntu_jammy_amd64__binary) | ", Assign "at most 3 tags" to the expected json: {"id":"10185","tags":[]} "only from the tags list I provide: [{"id":39,"name":"3d-generation","display_name":"3D generation","slug":"3d-generation"},{"id":3,"name":"ai-agent","display_name":"AI agent","slug":"ai-agent"},{"id":8,"name":"ai-coding","display_name":"AI coding assistant","slug":"ai-coding"},{"id":5,"name":"ai-image","display_name":"AI image generation","slug":"ai-image"},{"id":9,"name":"ai-infrastructure","display_name":"AI infrastructure","slug":"ai-infrastructure"},{"id":10,"name":"ai-memory","display_name":"AI memory","slug":"ai-memory"},{"id":11,"name":"ai-skills","display_name":"AI skills","slug":"ai-skills"},{"id":12,"name":"ai-translation","display_name":"AI translation","slug":"ai-translation"},{"id":6,"name":"ai-video","display_name":"AI video generation","slug":"ai-video"},{"id":4,"name":"ai-voice","display_name":"AI voice","slug":"ai-voice"},{"id":7,"name":"ai-workflow","display_name":"AI workflow","slug":"ai-workflow"},{"id":22,"name":"audio-processing","display_name":"Audio processing","slug":"audio-processing"},{"id":29,"name":"authentication","display_name":"Authentication","slug":"authentication"},{"id":51,"name":"bundler","display_name":"Bundler","slug":"bundler"},{"id":41,"name":"chatbot","display_name":"Chatbot","slug":"chatbot"},{"id":27,"name":"cloud-native","display_name":"Cloud native","slug":"cloud-native"},{"id":1,"name":"computer-vision","display_name":"Computer vision","slug":"computer-vision"},{"id":37,"name":"crypto-trading","display_name":"Crypto trading","slug":"crypto-trading"},{"id":57,"name":"curated-list","display_name":"Curated list","slug":"curated-list"},{"id":54,"name":"data-streaming","display_name":"Data streaming","slug":"data-streaming"},{"id":35,"name":"data-visualization","display_name":"Data visualization","slug":"data-visualization"},{"id":16,"name":"database-backup","display_name":"Database backup","slug":"database-backup"},{"id":49,"name":"design-system","display_name":"Design system","slug":"design-system"},{"id":38,"name":"digital-human","display_name":"Digital human","slug":"digital-human"},{"id":34,"name":"document-processing","display_name":"Document processing","slug":"document-processing"},{"id":44,"name":"ecommerce","display_name":"E-commerce","slug":"ecommerce"},{"id":45,"name":"emulator","display_name":"Emulator","slug":"emulator"},{"id":46,"name":"file-management","display_name":"File management","slug":"file-management"},{"id":32,"name":"fintech","display_name":"Fintech","slug":"fintech"},{"id":31,"name":"game-development","display_name":"Game development","slug":"game-development"},{"id":24,"name":"headless-browser","display_name":"Headless browser","slug":"headless-browser"},{"id":52,"name":"headless-cms","display_name":"Headless CMS","slug":"headless-cms"},{"id":36,"name":"home-automation","display_name":"Home automation","slug":"home-automation"},{"id":20,"name":"image-editing","display_name":"Image editing","slug":"image-editing"},{"id":28,"name":"iot","display_name":"IoT","slug":"iot"},{"id":13,"name":"local-llm","display_name":"Local LLM","slug":"local-llm"},{"id":17,"name":"mcp","display_name":"MCP","slug":"mcp"},{"id":47,"name":"monitoring","display_name":"Monitoring","slug":"monitoring"},{"id":2,"name":"nlp","display_name":"NLP","slug":"nlp"},{"id":26,"name":"observability","display_name":"Observability","slug":"observability"},{"id":40,"name":"pentesting","display_name":"Pentesting","slug":"pentesting"},{"id":48,"name":"programming-examples","display_name":"Programming examples","slug":"programming-examples"},{"id":42,"name":"proxy","display_name":"Proxy","slug":"proxy"},{"id":14,"name":"rag","display_name":"RAG","slug":"rag"},{"id":56,"name":"resume-building","display_name":"Resume building","slug":"resume-building"},{"id":33,"name":"robotics","display_name":"Robotics","slug":"robotics"},{"id":30,"name":"search","display_name":"Search","slug":"search"},{"id":43,"name":"self-hosted","display_name":"Self-hosted","slug":"self-hosted"},{"id":50,"name":"static-analysis","display_name":"Static analysis","slug":"static-analysis"},{"id":18,"name":"synthetic-data","display_name":"Synthetic data","slug":"synthetic-data"},{"id":19,"name":"text-to-speech","display_name":"Text to speech","slug":"text-to-speech"},{"id":53,"name":"ui-components","display_name":"UI components","slug":"ui-components"},{"id":15,"name":"vector-database","display_name":"Vector database","slug":"vector-database"},{"id":21,"name":"video-editing","display_name":"Video editing","slug":"video-editing"},{"id":25,"name":"web-scraping","display_name":"Web scraping","slug":"web-scraping"},{"id":55,"name":"webassembly","display_name":"WebAssembly","slug":"webassembly"},{"id":23,"name":"workflow-automation","display_name":"Workflow automation","slug":"workflow-automation"}]" returns me the "expected json"