MoveIt Tutorials on Windows

This guide is to show you how to prepare a workspace (for ROS on Windows) for your MoveIt tutorials. Find out more about MoveIt, visit here.

Install ROS on Windows

Follow the ROS on Windows installation istructions. You may skip the Binary Package Installation step and install the ros-melodic-moveit binary instead of ros-melodic-desktop_full or ros-eloquent-desktop (as shown in the next section). http://wiki.ros.org/Installation/Windows

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)

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
choco upgrade ros-melodic-moveit -y --execution-timeout=0

Close the window and open a new ROS Command Window. Make sure you have the most up to date packages: ```rosdep update


## Create Workspace for MoveIt Tutorials
Then, create a workspace and download the example code.

(open a command prompt as admin)

```no-highlight
mkdir c:\moveit_ws\src
cd c:\moveit_ws\src
catkin_init_workspace
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
cd c:\moveit_ws
catkin_make

After it is built, source the catkin 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.