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