MoveIt 2 Status Update and Feature Comparison
With the release of ROS 2 Galactic, we would like to share the new features only available in MoveIt 2. We hope to encourage the community to upgrade to MoveIt 2 as soon as possible. MoveIt 2 is out of beta.
Table last updated August 15, 2021
| MoveIt 1 | MoveIt 2 | |
|---|---|---|
| ROS 1 Support | ✓ | via ros1_bridge |
| ROS 2 Support | ✕ | ✓ |
| Motion Planning | ✓ | ✓ |
| Inverse Kinematics | ✓ | ✓ |
| Perception | ✓ | ✓ |
| Grasping | ✓ | ✓ |
| Setup Assistant | ✓ | in development |
| MoveIt Task Constructor | ✓ | pending |
| Game Controller Integration for Servo | ✓ | ✓ |
| Industrial Trajectory Generator | ✓ | planned |
| Probabilistically complete Cartesian Planning | Stale Patch | ✓ |
| Composable Nodes | nodelet subsystem | ✓ |
| Planning for Differential Drive Bases | ✕ | ✓ |
| Hybrid Planning (global + local planners) | ✕ | pending |
| Based on Realtime Capable DDS Messaging | ✕ | ✓ |
| Native Windows Build | via RoboStack | ✓ |
| New Feature Development by PickNik | ✕ | ✓ |
| Development Coordinated with ROS 2 Technical Steering Committee | ✕ | ✓ |
| Built for Industrial Security | ✕ | ✓ |
For more details, see the MoveIt Roadmap and Upcoming Features.
Status Update for MoveIt 2 on Galactic & Rolling
As of June 8th 2021, we have an experimental chain of PRs that enable compiling on Rolling, but it requires a complicated workspace setup. However, MoveIt 2 Foxy is stable.
We are looking for help from upstream maintainers to release their packages so that MoveIt Galactic can be released. We are also facing challenges relating to pre-release testing of packages and debugging packages failing on the buildfarm. When these two issues are resolved we will have a Galactic and Rolling release.
There has been a lot of recent progress in porting the tutorials to MoveIt 2. We look forward to the official release of MoveIt 2 Galactic on June 30th!