Environment Information:

  • ROS 2 Distribution: Humble
  • Operating System: Ubuntu 22.04
  • Python Version: 3.10.12

MoveIt Installation:

sudo apt-get install ros-humble-moveit

Code Snippet (filename: server_node.py)

#!/usr/bin/env python3 
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped
from moveit_msgs.srv import GetPositionIK
from moveit_msgs.msg import PositionIKRequest, RobotTrajectory
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from moveit_msgs.msg import MoveItErrorCodes
from sensor_msgs.msg import JointState
from moveit_ros_planning_interface import MoveGroupInterface
from moveit_ros_planning_interface import PlanningSceneInterface
from moveit_ros_planning_interface import RobotCommander

Error Message:

Traceback (most recent call last):
  File "/home/ubuntu/palletizer/src/my_palletizer/my_palletizer/server_node.py", line 10, in <module>
    from moveit_ros_planning_interface import MoveGroupInterface
ModuleNotFoundError: No module named 'moveit_ros_planning_interface'

Workspace Structure:

|-- build
|-- install
|-- log
|-- src
    |-- moveit
    |-- my_palletizer
        |-- my_palletizer
            |-- build
            |-- __init__.py
            |-- log
            |-- server_node.py
            |-- CMakeLists.txt
            |-- install
            |-- publisher_node.py
            |-- subscriber_node.py
            |-- package.xml
            |-- resource
            |-- setup.cfg
            |-- setup.py
            |-- test

Steps Taken for Debugging:

  • Installed MoveIt using the provided command.
  • Verified the presence of MoveIt in the ROS 2 workspace.

Specific Questions:

  1. How can I resolve the ModuleNotFoundError: No module named 'moveit_ros_planning_interface' issue?
  2. Are there additional dependencies or configurations needed for MoveIt in ROS 2 Humble?
  3. Is there an alternative way to import moveit_ros_planning_interface in ROS 2 Humble?

Any guidance or suggestions on resolving this issue would be greatly appreciated. Thank you!


1 Answer 1


Welcome to Robotics Stack Exchange!

from moveit_ros_planning_interface import MoveGroupInterface

You are using MoveIt 1 on ROS 2. The MoveIt 2 has been rewritten for ROS 2, and the Python library has been renamed MoveItPy.


  1. Documentation: Please check the official Motion Planning Python API page.
  2. Sample Code: Please check the ros-planning/moveit2_tutorials repository.


From ROS Iron onwards, you can install it directly from apt using the following command:

sudo apt install ros-${ROS_DISTRO}-moveit-py

For ROS Humble, you can compile the main branch of ros-planning/moveit2. Please feel free to share if there is any issues in source installation.


After successful installation, you should be able to import MoveItPy as shown below:

$ source /opt/ros/iron/setup.bash
$ python3
Python 3.10.12 (main, Jun 11 2023, 05:26:28) [GCC 11.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> from moveit.core.robot_state import RobotState
>>> from moveit.planning import MoveItPy, MultiPipelinePlanRequestParameters
>>> exit()

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