Installation

Dependencies

• geometric_shapes (on Indigo or Jade, you need shape_tools instead: sudo apt-get install ros-indigo-shape-tools)
• moveit_core
• moveit_ros_planning_interface
• moveit_planners_ompl
• moveit_ros_visualization
• eigen_conversions
• roslint (only while the packages are still in beta)
• object_msgs from repository general-message-pkgs
• This repository itself: moveit-pkgs

Installation

Install the dependencies (most of the MoveIt packages come with the ros-<distro>-moveit package, but in case you would like a light install, this lists the MoveIt packages you really need):

sudo apt-get install \
    ros-<distro>-moveit-core \
    ros-<distro>-moveit-ros-planning-interface \
    ros-<distro>-moveit-planners-ompl \
    ros-<distro>-moveit-ros-visualization \
    ros-<distro>-geometric-shapes \
    ros-<distro>-eigen-conversions \
    ros-<distro>-roslint

Also, if you would like to use the MoveIt simple controller manager:

sudo apt-get install ros-<distro>-moveit-simple-controller-manager

Follow instructions on general-message-pkgs to install the message package dependencies.

Then, add the git repository to your catkin workspace:

cd <your-catkin-ws>/src
git clone https://github.com/JenniferBuehler/moveit-pkgs.git

Hint: Alternatively to cloning the repositry directly into the catkin source folder, you may also clone the repository elsewhere and then create a softlink to the main folders in your catkin source directory:
ln -s <path to moveit-pkgs>

To compile, you can now use catkin_make as usual:

cd ..
catkin_make