MoveIt Tutorials on Windows

This guide is to show you how to prepare a workspace for MoveIt tutorials. Find out more about MoveIt, visit here.

MoveIt Binary Installation on Windows

Download the ROS on Windows with MoveIt packages. (open an elevated ROS Command Window as described in the installation instructions)

Noetic

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-noetic-desktop_full -y --execution-timeout=0

Melodic

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-melodic-moveit -y --execution-timeout=0

Create Workspace for MoveIt Tutorials

Then, create a workspace and download the example code.

(open a command prompt as admin)

Noetic

:: activate ROS environment
c:\opt\ros\noetic\x64\setup.bat

:: checkout MoveIt tutorial packages
mkdir c:\moveit_ws\src
cd c:\moveit_ws\src

git clone https://github.com/ms-iot/moveit_tutorials.git -b 1.1.1
git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel
git clone https://github.com/frankaemika/franka_ros-release -b release/kinetic/franka_description

:: build packages
cd c:\moveit_ws
catkin_make

Melodic

:: activate ROS environment
c:\opt\ros\melodic\x64\setup.bat

:: checkout MoveIt tutorial packages
mkdir c:\moveit_ws\src
cd c:\moveit_ws\src

git clone https://github.com/ros-planning/moveit_tutorials.git -b melodic-devel
git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel
git clone https://github.com/frankaemika/franka_ros-release -b release/kinetic/franka_description

:: build packages
cd c:\moveit_ws
catkin_make

After it is built, activate the development workspace.

c:\moveit_ws\devel\setup.bat

Getting Started with MoveIt Tutorials

Now you are ready to continue to the MoveIt Quickstart in RViz section of the tutorials MoveIt Tutorials.