0
$\begingroup$

Has anyone tried installing MoveIt 2 on windows? When I go to the official website it says nothing about compatibility with ROS-humble version. It's very similar to how it doesn't mention anything for compatibility with ROS-Iron and it is still compatible in Linux. I tried this tutorial but it has lack of information. Can anyone tell if there is any way to install MoveIt 2 on windows for ROS-Humble? I didn't find any resources online.

$\endgroup$

1 Answer 1

0
$\begingroup$

You can look at installing via Robostack and see if your needs can be met that way:

https://robostack.github.io/GettingStarted.html

https://robostack.github.io/humble.html

Some core MoveIt packages are available for binary installation. I successfully installed ros-humble-moveit on an existing Robostack Humble installation. I can add a motion planning panel to RViz.

However, moveit2_tutorials is not available to try a more functional test per the quickstart documentation. I briefly looked into building it from source, but it looks like I'll have to try to build a number of its dependencies from source too.

EDIT: I added a number of packages from source and got the moveit2_tutorials RViz quickstart working:

enter image description here

moveit2_tutorials depends on a number of packages that as far as I know aren't available on Windows and might be hard to build.

I currently removed the dependencies moveit_task_constructor_core, moveit_ros_perception and moveit_servo from the CMakeLists.txt in moveit2_tutorials and commented out all the add_subdirectory() calls except for add_subdirectory(doc/tutorials/quickstart_in_rviz)

I will fork it and make a Windows branch to share later, and update with another edit, as well as share a .repos file. I needed to build graph_msgs, moveit_resources, moveit_visual_tools and rviz_visual_tools from source.

--- End Edit ---

You might give it a try and see if you can get a working installation. You can also check out https://github.com/ms-iot/ROSOnWindows/issues and see if there's any information about MoveIt.

Are you planning to control real robot hardware? Even if you get MoveIt working with demos/simulation, hardware driver support tends to be limited.

$\endgroup$
2
  • $\begingroup$ Yes I was trying to to control real robot hardware and as linux system was not available I wanted to build this on windows. $\endgroup$
    – Ros wizard
    Nov 4, 2023 at 1:05
  • $\begingroup$ I think it's worth trying Robostack. I'm having issues building moveit2_tutorials with a fresh Robostack installation because the tutorial code now seems to rely on ros2_kortex, the Kinova driver package. The screenshot above with the Franka Emika Panda is using an old Robostack installation I haven't maintained in a while. However, basic MoveIt is available and if you can get your robot driver to work on Windows, I bet you can get MoveIt to work with it at some level. $\endgroup$ Nov 4, 2023 at 18:12

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.