Mastering ROS for Robotics Programming

Step 1 – Launching the Setup Assistant tool

• To start the MoveIt! Setup Assistant tool, we can use the following command:

  $ roslaunch moveit_setup_assistant setup_assistant.launch
  

• This will bring up a window with two choices: Create New MoveIt! Configuration Package or Edit Existing MoveIt! Configuration Package. Here we are creating a new package, so we need that option. If we have a MoveIt! package already, then we can select the second option.
• Click on the button Create New MoveIt! Configuration Package, which will bring a new screen, as shown next:
  

  Figure 4 : MoveIt Setup Assistant

• In this step, the wizard asks for the URDF model of the new robot. ...