# MoveIt Motion Planning Framework

:robot: MoveIt for ROS 2

Repository: https://github.com/moveit/moveit2
Canonical: https://ross.abutalabs.com/products/moveit-motion-planning-framework
Homepage: https://moveit.ai/
Language: C++
License: BSD-3-Clause
License Family: permissive
Last push: 2026-08-19T07:45:54+00:00
Link (homepage): https://moveit.ai/
Link (site_page): https://moveit.ai/install
Link (site_page): https://moveit.ai/install-moveit2/binary
Link (site_page): https://moveit.ai/documentation/applications
Link (site_page): https://moveit.ai/documentation/concepts

## Health v2 (maintenance only)
Score: 76/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 98, release rhythm 35, longevity 100
- inputs: {"age_days": 2756, "days_push": 14, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1977, forks 781 (observed 2026-08-28T04:06:01.477990+00:00)

## What it is
MoveIt is an open-source motion planning framework for ROS and ROS 2 that provides manipulation, inverse kinematics, collision checking, and trajectory execution for robotic arms. It integrates planners like OMPL, CHOMP, and STOMP and includes tools such as a Setup Assistant, Rviz visualization, and Gazebo simulation support.

## Use cases
- plan collision-free trajectories for a robot arm
- compute inverse kinematics for a 6-DOF manipulator
- set up pick and place pipelines for a robotic manipulator
- benchmark different motion planning algorithms
- configure MoveIt for a custom robot with the Setup Assistant
- simulate robot manipulation in Gazebo before deploying to hardware
- generate grasp poses for object manipulation
- plan multi-stage manipulation tasks with the Task Constructor

## When to choose
- you are developing manipulation applications for robot arms in ROS or ROS 2
- you need motion planning, IK, and collision checking integrated in one framework
- you want to prototype manipulation algorithms and benchmark planners
- you need a widely adopted framework with community support and many example robots

## When to avoid
- you are working with mobile robots without manipulators and only need navigation
- you need a commercial-grade supported runtime rather than open-source tooling
- your project does not use ROS and you cannot integrate with its ecosystem
- you need real-time deterministic control at the low-level firmware layer

## Facets
- artifact type: framework
- maturity: stable
- function: simulation, robotics
- domain: robotics, autonomous-vehicles, simulation, developer-tools
- platform: cpp, python, windows
- tags: motion-planning, manipulation, ros, ros2, kinematics, trajectory-optimization, ompl, rviz, pick-and-place, robot-arms, collision-detection, inverse-kinematics, linux, ubuntu

## Member repositories
- moveit/moveit2 (main) score 76
- moveit/moveit (mirror) score 65

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:06:01.477990+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T02:55:56.411587+00:00, confidence not recorded.
  - readme: https://github.com/moveit/moveit2 (fetched 2026-08-28T04:06:01.477990+00:00, sha 5d33ec91b80c)
  - homepage: https://moveit.ai/ (fetched 2026-08-29T10:36:04.724208+00:00, sha 196f1d787975)
  - site_page: https://moveit.ai/documentation/plugins (fetched 2026-08-29T10:36:04.742544+00:00, sha 2e4a631b62a9)
  - site_page: https://moveit.ai/install (fetched 2026-08-29T10:36:04.733252+00:00, sha 2f2deaa79991)
  - site_page: https://moveit.ai/install-moveit2/binary (fetched 2026-08-29T10:36:04.735052+00:00, sha 1ae7babfe258)
  - site_page: https://moveit.ai/documentation/applications (fetched 2026-08-29T10:36:04.736520+00:00, sha f6fbbc532c23)
  - site_page: https://moveit.ai/documentation/concepts (fetched 2026-08-29T10:36:04.738288+00:00, sha 6b9869c70f4a)
  - site_page: https://moveit.ai/documentation/related_projects (fetched 2026-08-29T10:36:04.740641+00:00, sha 5f2732348a4e)
  - site_page: https://moveit.ai/documentation/planners (fetched 2026-08-29T10:36:04.744419+00:00, sha 735a902122c1)
  - site_page: https://moveit.ai/documentation/source-code-api (fetched 2026-08-29T10:36:04.746223+00:00, sha 4309e39aa1da)
- Data as of 2026-08-30T08:39:29.467469+00:00.