ROS 2 Kilted running natively on macOS Apple Silicon — MoveIt 2 Planning Demo
After getting Gazebo Ionic and the ros_gz_bridge running smoothly on macOS Apple Silicon, I’m excited to share the next big milestone:
MoveIt 2 motion planning is now working natively on the ROS 2 Kilted build for macOS.
Using modified MoveIt 2 tutorials adapted for the Kilted branch, I’ve been testing multiple planners:
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OMPL -
CHOMP -
pilz_industrial_motion_planner
The results are surprisingly stable — even when pushing the robot into unusual joint configurations, MoveIt 2 consistently recovers, replans, and stays responsive.
Highlights:
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No crashes on failed planning requests — MoveIt 2 cleanly handles errors and retries. -
ros2_control runtime controller switching works reliably.
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More stable than Humble on macOS — Kilted is closer to upstream, with smoother behavior and less patching.
Resources:
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MoveIt 2 tutorials Kilted branch update: Commit link
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Kilted macOS ROS 2 repo: ros2_macOS
