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:
    Step 1 – Launching the Setup Assistant tool

    Figure 4 : MoveIt Setup Assistant

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

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