# ROS Humble Moveit2 **URL:** \ **Category:** Ask\ **Created:** [January 16, 2024, 10:45pm UTC](https://forum.hello-robot.com/t/ros-humble-moveit2/890 "2024-01-16T22:45:28Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![moore.dr](https://avatars.discourse-cdn.com/v4/letter/m/c0e974/32.png) [@moore.dr](https://forum.hello-robot.com/u/moore.dr)\ **Post date:** [January 16, 2024, 10:45pm UTC](https://forum.hello-robot.com/t/ros-humble-moveit2/890/1 "2024-01-16T22:45:28Z")
Hi, I am currently trying to figure out how to best perform manipulation using the robot base and the robot arm, but I can’t seem to find much support in the stretch\_ros2 github or stretch\_tutorials repo. The moveit tutorials say to checkout a branch in stretch\_ros2 that doesn’t exist, and I can’t seem to find any moveit2 configs anywhere. Any advice on how to get started with manipulation involving the base would be very helpful. Thank you! ---
**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:** [January 17, 2024, 6:47am UTC](https://forum.hello-robot.com/t/ros-humble-moveit2/890/2 "2024-01-17T06:47:57Z")
Hi @moore.dr, good question! The MoveIt2 config/code was written for Galactic and the MoveIt2 tutorials are currently out-of-date. The config/code should be updated in the next few weeks, and the tutorials will be updated and re-released in late Feb. I’ll can follow up here when this package/tutorials have been updated for Humble. ---
**Author:** ![moore.dr](https://avatars.discourse-cdn.com/v4/letter/m/c0e974/32.png) [@moore.dr](https://forum.hello-robot.com/u/moore.dr)\ **Post date:** [January 18, 2024, 4:12pm UTC](https://forum.hello-robot.com/t/ros-humble-moveit2/890/3 "2024-01-18T16:12:11Z")
Yes, that would be great! By the config being updated, that means I will be able to use MoveIt2 in the stretch\_ros2 repo right?