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. ...
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