# MoveIt for stretch 3

**URL:** <https://forum.hello-robot.com/t/moveit-for-stretch-3/982>\
**Category:** Ask\
**Created:** [May 16, 2024, 3:59am UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982 "2024-05-16T03:59:42Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\
**Post date:** [May 16, 2024, 3:59am UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982/1 "2024-05-16T03:59:42Z")

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I am using stretch 3. Do you have the default MoveIt configuration. I use the stretch 2 version. It cannot connect to the topics and return 0 controllers. Do I need to launch FollowJointTrajectory action service? On the robot, I launched “ ros2 launch stretch\_core stretch\_driver.launch.py” and “ros2 launch stretch\_core d435\_high\_resolution.launch.py”

 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/bcf81fb050322cfdd238b3f79d36902985f58ec6.jpeg)

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [May 19, 2024, 10:33pm UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982/2 "2024-05-19T22:33:10Z")

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Hi @Yongbo, we deprecated the MoveIt2 support in ROS2 Galactic because the API had changed between Galactic and Humble. There’s been some effort to port it forward to Humble, but that isn’t complete. Recently, the work in the following post with PyOptas has seemed to me a more promising way to set up trajectory optimization: [Whole Body Trajectory Optimization for stretch](https://forum.hello-robot.com/t/whole-body-trajectory-optimization-for-stretch/934)

If you’re interested in pushing forward with MoveIt2, I can put together some notes on the pain points that need to be solved.

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**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\
**Post date:** [May 24, 2024, 1:05am UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982/3 "2024-05-24T01:05:50Z")

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Thanks. I have written a service to solve this problem. Now it is fine for manipulation for ros1.

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**Author:** ![Vipul\_Patel](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/vipul_patel/32/928_2.png) [@Vipul\_Patel](https://forum.hello-robot.com/u/Vipul_Patel)\
**Post date:** [February 6, 2025, 5:13pm UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982/4 "2025-02-06T17:13:50Z")

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Hi @bshah, Is there any update on moveit2 for Stretch3?

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [February 6, 2025, 8:01pm UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982/5 "2025-02-06T20:01:05Z")

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Hi @Vipul_Patel, thanks for checking, at this time, it’s not actively being developed.