Mastering ROS for Robotics Programming - Second Edition

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 Create New MoveIt! Configuration Package button, which will display a new screen, as shown next:

Figure 4: MoveIt! Setup Assistant

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