Skip to content

Commit 85afd8a

Browse files
Vatan Aksoy Tezertylerjw
Vatan Aksoy Tezer
and
tylerjw
authored
Add binary instructions, clear recommendations and update source builds (#623)
Co-authored-by: Tyler Weaver <[email protected]>
1 parent 92d03cb commit 85afd8a

File tree

5 files changed

+242
-3
lines changed

5 files changed

+242
-3
lines changed

‎_includes/install-nav.html

+14
Original file line numberDiff line numberDiff line change
@@ -61,6 +61,20 @@
6161
<div class="version-header">
6262
MoveIt 2.0
6363
</div>
64+
<a href="/install-moveit2/binary/">
65+
{% if page.url == "/install-moveit2/binary/" %}
66+
<div class="row no-gutters">
67+
<img src="/assets/install_page/current_page_left.png" class="current-page-image-left">
68+
<img src="/assets/install_page/current_page_right.png" class="current-page-image-right">
69+
<div class="font-current-page">
70+
{% else %}
71+
<div>
72+
<div class="row font-other-page">
73+
{% endif %}
74+
Binary Install: Linux
75+
</div>
76+
</div>
77+
</a>
6478
<a href="/install-moveit2/source/">
6579
{% if page.url == "/install-moveit2/source/" %}
6680
<div class="row no-gutters">

‎assets/install_page/lxd.png

24.5 KB
Loading

‎assets/install_page/ros_icon.png

7.06 KB
Loading

‎install-moveit2/binary/index.markdown

+214
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,214 @@
1+
---
2+
layout: install
3+
slug: binary_install_moveit2
4+
title: MoveIt 2 Binary Install
5+
---
6+
7+
<div>
8+
<h1>MoveIt 2 Binary Install</h1>
9+
We're thrilled you're ready to start using MoveIt 2!
10+
Binary installation for MoveIt 2 is currently only available for ROS 2 Foxy, ROS 2 Galactic and ROS 2 Rolling on Ubuntu 20.04.
11+
Select your preferred ROS 2 distribution below:
12+
<div class="row systems-rectangle">
13+
<button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Foxy" aria-expanded="true" aria-controls="Foxy">
14+
<div class="row no-gutters">
15+
<div class="col-auto">
16+
<img src="/assets/install_page/ros_icon.png"/>
17+
</div>
18+
<div class="col-auto system-type">
19+
<div class="system-name">
20+
ROS 2
21+
</div>
22+
Foxy
23+
</div>
24+
</div>
25+
</button>
26+
<button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Galactic" aria-expanded="true" aria-controls="Galatic">
27+
<div class="row no-gutters">
28+
<div class="col-auto">
29+
<img src="/assets/install_page/ros_icon.png"/>
30+
</div>
31+
<div class="col-auto system-type">
32+
<div class="system-name">
33+
ROS 2
34+
</div>
35+
Galactic
36+
</div>
37+
</div>
38+
</button>
39+
<button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Rolling" aria-expanded="true" aria-controls="Rolling">
40+
<div class="row no-gutters">
41+
<div class="col-auto">
42+
<img src="/assets/install_page/ros_icon.png"/>
43+
</div>
44+
<div class="col-auto system-type">
45+
<div class="system-name">
46+
ROS 2
47+
</div>
48+
Rolling
49+
</div>
50+
</div>
51+
</button>
52+
</div>
53+
<div id="accordion">
54+
<!-- ----------------------------------------------------------------- -->
55+
<!-- ----------------------------------------------------------------- -->
56+
<!-- ----------------------------------------------------------------- -->
57+
<!-- ----------------------------------------------------------------- -->
58+
<div class="collapse" id="Foxy" data-parent="#accordion">
59+
<h3>
60+
Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
61+
</h3>
62+
<p>
63+
Follow all the instructions to install <a href="https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html" target="_blank">ROS 2 Foxy</a>.
64+
</p>
65+
<div class="horizontal-line"></div>
66+
<h2>
67+
<img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 20.04
68+
</h2>
69+
<h3>
70+
ROS 2 Foxy
71+
<div class="bash-command">
72+
<code>sudo apt install ros-foxy-moveit</code>
73+
</div>
74+
</h3>
75+
<div class="horizontal-line"></div>
76+
<h2>
77+
Quick Start
78+
</h2>
79+
<p>
80+
Start planning in Rviz with:
81+
</p>
82+
<a href="http://moveit2_tutorials.picknik.ai/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html" target="_blank">
83+
<span class="link-with-background">
84+
MoveIt 2 Getting Started Tutorial
85+
</span>
86+
</a>
87+
</div>
88+
<!-- ----------------------------------------------------------------- -->
89+
<!-- ----------------------------------------------------------------- -->
90+
<!-- ----------------------------------------------------------------- -->
91+
<!-- ----------------------------------------------------------------- -->
92+
<div class="collapse" id="Galactic" data-parent="#accordion">
93+
<h3>
94+
Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
95+
</h3>
96+
<p>
97+
Follow all the instructions to install <a href="https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html" target="_blank">ROS 2 Galactic</a>.
98+
</p>
99+
<div class="horizontal-line"></div>
100+
<h2>
101+
<img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 20.04
102+
</h2>
103+
<h3>
104+
ROS 2 Galactic
105+
<div class="bash-command">
106+
<code>sudo apt install ros-galactic-moveit</code>
107+
</div>
108+
</h3>
109+
<div class="horizontal-line"></div>
110+
<h2>
111+
Quick Start
112+
</h2>
113+
<p>
114+
Start planning in Rviz with:
115+
</p>
116+
<a href="http://moveit2_tutorials.picknik.ai/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html" target="_blank">
117+
<span class="link-with-background">
118+
MoveIt 2 Getting Started Tutorial
119+
</span>
120+
</a>
121+
</div>
122+
<!-- ----------------------------------------------------------------- -->
123+
<!-- ----------------------------------------------------------------- -->
124+
<!-- ----------------------------------------------------------------- -->
125+
<!-- ----------------------------------------------------------------- -->
126+
<div class="collapse" id="Rolling" data-parent="#accordion">
127+
<h3>
128+
Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
129+
</h3>
130+
<p>
131+
Follow all the instructions to install <a href="https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html" target="_blank">ROS 2 Rolling</a>.
132+
</p>
133+
<div class="horizontal-line"></div>
134+
<h2>
135+
<img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 20.04
136+
</h2>
137+
<h3>
138+
ROS 2 Rolling
139+
<div class="bash-command">
140+
<code>sudo apt install ros-rolling-moveit</code>
141+
</div>
142+
</h3>
143+
<div class="horizontal-line"></div>
144+
<h2>
145+
Quick Start
146+
</h2>
147+
<p>
148+
Start planning in Rviz with:
149+
</p>
150+
<a href="http://moveit2_tutorials.picknik.ai/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html" target="_blank">
151+
<span class="link-with-background">
152+
MoveIt 2 Getting Started Tutorial
153+
</span>
154+
</a>
155+
</div>
156+
<!-- ----------------------------------------------------------------- -->
157+
<!-- ----------------------------------------------------------------- -->
158+
<!-- ----------------------------------------------------------------- -->
159+
<!-- ----------------------------------------------------------------- -->
160+
<div class="horizontal-line"></div>
161+
<h2>
162+
Other Setups
163+
</h2>
164+
<div class="row no-gutters">
165+
<div class="col-6">
166+
<h4>
167+
<img src="/assets/install_page/github.png"/>
168+
Source Build: Linux
169+
</h4>
170+
<p>
171+
See <a href="/install-moveit2/source/">build instructions</a>
172+
</p>
173+
</div>
174+
<div class="col-5 offset-1">
175+
<h4>
176+
<img src="/assets/install_page/lxd.png"/>
177+
LXD container
178+
</h4>
179+
<p>
180+
See <a href="/install-moveit2/lxd/">build instructions</a>
181+
</p>
182+
</div>
183+
</div>
184+
<div class="horizontal-line"></div>
185+
<h2>
186+
Virtual Machines
187+
</h2>
188+
<p>
189+
We recommend developing with MoveIt on a native Ubuntu install. If you are unable to run Linux natively on your machine, the next best thing would be to set up a virtual machine using VMware. There are known issues with the ROS visualization tool RViz when used with VirtualBox - be sure to enable virtualization in your BIOS.
190+
</p>
191+
<div class="horizontal-line"></div>
192+
<h2>
193+
About Our Release Process
194+
</h2>
195+
<p>
196+
MoveIt 2 is released every few months into Ubuntu debian packages via
197+
the ROS infrastructure. For more information see the <a href="https://www.ros.org/reps/rep-2000.html" target="_blank">ROS 2 target platforms</a>
198+
and <a href="/documentation/contributing/releases/">MoveIt 2’s release process</a>.
199+
</p>
200+
</div>
201+
</div>
202+
203+
<script type="text/javascript">
204+
document.addEventListener("DOMContentLoaded", function(event) {
205+
document.getElementById("defaultButton").click();
206+
});
207+
jQuery(function($) {
208+
$('.btn-primary').click(function() {
209+
$('.btn-primary').not(this).removeClass('active').html(function() {
210+
});
211+
$(this).addClass('active')
212+
});
213+
});
214+
</script>

‎install-moveit2/source/index.markdown

+14-3
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,8 @@ These instructions assume you are running on Ubuntu 20.04.
2525

2626
### Install <img src="/assets/install_page/ros_logo.jpeg"/>
2727

28-
Install ROS2 [Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html), [Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) (recommended), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions.
28+
Install ROS2 [Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html), [Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions. We recommend Foxy for stable latest LTS distribution needs, Galactic for general use case that has the latest features with a stable distribution and Rolling for contributing to MoveIt 2. Currently the [main branch](https://github.com/ros-planning/moveit2) of MoveIt 2 is supported on both Rolling and Galactic. For Foxy please use the [foxy branch](https://github.com/ros-planning/moveit2/tree/foxy) and the relevant build instructions below.
29+
2930
Use the desktop installation and don't forget to source the setup script.
3031

3132
Make sure you have the latest versions of packages installed:
@@ -75,14 +76,24 @@ Create a colcon workspace:
7576

7677
## Download Source Code
7778

78-
Download the repository and install any dependencies:
79+
Download the repository and install any dependencies. Issue the relevant commands for your ROS distribution.
80+
### Foxy
81+
7982

80-
git clone https://github.com/ros-planning/moveit2.git
83+
git clone https://github.com/ros-planning/moveit2.git -b foxy
84+
vcs import < moveit2/moveit2.repos
85+
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
86+
87+
### Galactic and Rolling
88+
89+
git clone https://github.com/ros-planning/moveit2.git -b main
8190
vcs import < moveit2/moveit2.repos
8291
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
8392

8493
## Build MoveIt
8594

95+
The rest of the commands are same for every distribution.
96+
8697
Configure and build the workspace:
8798

8899
cd $COLCON_WS

0 commit comments

Comments
 (0)