MoveIt Pro Core

Real-time C++ robotic manipulation libraries with minimum dependencies

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ADVANCED CONTROLS REAL-TIME SAFE CERTIFIABLE

Originally developed for the US Space Force and NASA as part of the MoveIt Pro, these modules have since been made standalone for things like safety critical applications including:

Healthcare
Military
Space Flight
Industrial
Automotive

Key Features

  • Select only the modules you need
  • Speed up your verification and validation efforts
  • Optimized for deployment in safety critical applications
Diagram

We closely partner with you to ensure your philosophy of development is incorporated in, including process checks, requirements documentation, and providing source code.

Check icon Extensive unit testing
Check icon Rigorous compliance checkers
Check icon Real-time safe memory management

Available Core Modules

MoveIt Pro is ideal for most commercial applications, and uses the same core modules under the hood. However certain domains have specialized requirements that we offer this barebones product for.

MoveIt Pro User Interface

Developer Platform, Behavioral Tree Editor, Robot Visualizer, Debug Tools

MoveIt Pro Runtime

Behavior Trees, Objectives, Behaviors, ROS, Simulation

MoveIt Pro Core

Real-time C++ Libraries, Solvers, Planners,
and Controllers

Currently Available Algorithms

Controllers

VFC

Hybrid Cartesian Velocity Force Controller

JTAC

Joint Trajectory Admittance Controller

JVC

Joint Velocity Controller
Inverse Kinematics Solvers

VelocityIK

Differential Inverse Kinematics Solver IK solver for velocities

PathIK

Path Inverse Kinematics Planner IK solver for paths

PoseIK

Pose Inverse Kinematic Solver IK solver for poses
Planners

Pro RRT

Free Space Motion Planner with Collision Checking

PoseJog

Collision aware servoing, based on VFC

Pro Planning Scene

Manager of 3D world knowledge
Other Robotics Components

Collision Checking 1

Detect and avoid obstacles

Robot State 1

Core robotics data types

Robot Model 1

Core robotics data types

Other Components

  • Task Planning (MTC): Wrappers for PoseIK, PathIK, and ProRRT

Not Included

  • Perception, grasp generation, ML integration, support for MoveIt 2

Other Non Real-time Libraries

Codepen icon Visual Servoing
Codepen icon Geometric-based Grasp Generation Planner
Codepen icon Motion Task Planning

Verification and Validation Specifications

The following technical specifications are based on generic robotic arm requirements. Additional requirements gathering is generally necessary before we can provide a final list of specifications.

Compliance Metrics
  • Static Analysis Tools
    • MISRA C++ 23
    • SEI CERT
  • Code Linters
    • SonarQube
    • Clang-Tidy
  • Future
    • Cobra
    • IKOS support
Operating System
  • Ubuntu 22.04 or newer
Target Hardware
  • Built for modern architectures
    • Supported: x86-64 and Arm64
    • Under proposal to NASA: RISC-V
    • Future: QNX, VxWorks
API References
Planning Frameworks
  • PickNik does not support integration of MoveIt Pro Core into MoveIt 2 or other planning frameworks, as this product is the evolution of MoveIt 2 into essentially MoveIt 3.
Source Code
  • Included to support your V&V needs, provided appropriate IP safeguards exist.
Multi- Threading
  • If necessary, Customer is responsible for properly implementing their threading models. Thread-safety notes will be included in the documentation.
Dependencies
  • ROS 2 Humble
  • Eigen
Lines of Code
  • Core
    • ~7,000 as of March 2025
    • Includes tests and all solvers, planners, controllers
    • Can be reduced to fewer libraries
  • Collision Checker
    • ~17,000 lines
Compiled Size
  • ~6M total as of March 2025
  • At -O3 compile level
  • Additional libraries are currently in development to be added
Distribution
  • Our low level control libraries are distributed as
    • Shared Libraries (.so) for Linux
    • Full C++ header files
    • Doxygen documentation
  • Note: Controllers are wrapped in ROS 2 Control nodes.
Python API
  • In addition, a basic Python API similar in spirit to moveit_py is provided that wraps the low level control libraries.
  • Note: For now, MoveIt Pro Core APIs are subject to break in minor releases until the v10.0 release, as this is a very active area of development. Changes will be documented in the release notes.

Computer Vision Capabilities

MoveIt Pro contains these higher level capabilities, talk to use about exposing them in MoveIt Pro Core:

Machine Learning Models

Machine Learning Models
Point Cloud Perception

Point Cloud Perception
RGB Perception

RGB
Perception
Calibration Camera

Camera Calibration

Partner with PickNik to build your custom robotics application on a reliable and supported foundation.

Let’s get started

Since 2015, PickNik has developed our commercial grade MoveIt Pro platform to propel the robotics industry forward, while also contributing back to ROS, MoveIt, and many other open source projects.

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