](https://camo.githubusercontent.com/62176a685c40980602f2dfd8f0156f913b525c3564d8e11ef415621eadd9e8d4/68747470733a2f2f7069636b6e696b2e61692f6173736574732f696d616765732f6c6f676f2e6a7067)
This open source project was developed at [ PickNik Robotics
](https://picknik.ai/) . Need professional ROS development and consulting?
Contact us at [ projects@picknik.ai ](mailto:projects@picknik.ai) for a free
consultation.
##  Status:
###  ROS:
  * [ ![Build Status](https://camo.githubusercontent.com/bc304cc69835b78b8af242c7f7d7c119e1fb370237fa15d3c0f64d542c8ddeac/68747470733a2f2f7472617669732d63692e6f72672f726f732d706c616e6e696e672f6d6f766569745f76697375616c5f746f6f6c732e737667) ](https://travis-ci.org/ros-planning/moveit_visual_tools) Travis CI 
  * [ ![Build Status](https://camo.githubusercontent.com/35d8333602451b10469054c27566bd6f80af3f0323da67913664f693965386bb/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f76697375616c5f746f6f6c735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) ](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary/) ROS Buildfarm - AMD64 Xenial Debian Build - Ubuntu 16.04 LTS 
  * [ ![Build Status](https://camo.githubusercontent.com/d30e2f8af858399456cf73402d416e25feb3332a280b18a104269addb3b5a1c1/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b6465765f5f6d6f766569745f76697375616c5f746f6f6c735f5f7562756e74755f78656e69616c5f616d643634) ](http://build.ros.org/view/Kdev/job/Kdev__moveit_visual_tools__ubuntu_xenial_amd64/) ROS Buildfarm - AMD64 Xenial Devel Build - Ubuntu 16.04 LTS 
  * [ ![Build Status](https://camo.githubusercontent.com/d00fc154c9dbb94352f92094d50178ee03eaf1a0c8f560f989ea849a8b10c39f/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4d7372635f75425f5f6d6f766569745f76697375616c5f746f6f6c735f5f7562756e74755f62696f6e69635f5f736f75726365) ](http://build.ros.org/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source/) ROS Buildfarm - AMD64 Bionic Source Build - Ubuntu 18.04 LTS 
  * [ ![Build Status](https://camo.githubusercontent.com/b0ef2d852ae018b803f803a8bc61f3940c1896f86bca48a44df15002aa72d6e2/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4d6465765f5f6d6f766569745f76697375616c5f746f6f6c735f5f7562756e74755f62696f6e69635f616d643634) ](http://build.ros.org/job/Mdev__moveit_visual_tools__ubuntu_bionic_amd64/) ROS Buildfarm - AMD64 Bionic Devel Build - Ubuntu 18.04 LTS 
###  ROS2:
  * [ ![Build and Test](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/build_and_test.yaml/badge.svg?branch=ros2) ](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/build_and_test.yaml?query=branch%3Aros2) Github Actions - AMD64 Focal Source Build - Ubuntu 20.04 LTS 
  * [ ![Formatting\(pre-commit\)](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml/badge.svg?branch=ros2) ](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml?query=branch%3Aros2) Formatting(pre-commit) 
[ ![](/ros-planning/moveit_visual_tools/raw/ros2/resources/screenshot.png)
](/ros-planning/moveit_visual_tools/blob/ros2/resources/screenshot.png)
[ ![](/ros-planning/moveit_visual_tools/raw/ros2/resources/demo.png) ](/ros-
planning/moveit_visual_tools/blob/ros2/resources/demo.png)
##  ROS2 Install
###  Install From Source
Install moveit2 following the instructions [ here
](https://moveit.ros.org/install-moveit2/source/) . After sourcing the moveit
workspace clone this repository into a colcon workspace, import and install
dependencies and build:
    
    
    source ~/ws_moveit/install/setup.bash
    cd $COLCON_WS/src
    git clone -b ros2 https://github.com/ros-planning/moveit_visual_tools
    vcs import < moveit_visual_tools/moveit_visual_tools.repos
    rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y
    cd $COLCON_WS
    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
    
##  Quick Start Demo
To run some demos displaying robot states and collision objects:
    
    
    ros2 launch moveit_visual_tools demo_rviz.launch.py