The architecture of MoveIt! is depicted in the following diagram taken from the concepts sections of its official documentation at http://moveit.ros.org/documentation/concepts/. Here, we describe the main concepts in brief. In order to install MoveIt!, you only have to run this command:
$ sudo apt-get install ros-kinetic-moveit-full
Alternatively, you can install all the dependencies of the code that comes with this chapter by running the following command from a workspace that contains it:
$ rosdep install --from-paths src -iy
The following diagram shows the architecture of MoveIt!:
MoveIt! architecture diagram ...
