As we have discussed in Chapter 6, ROS Modelling and Simulation, after building the model using a xacro file for the industrial robot, we can convert it to a URDF file and view the robot model in rviz by using the following command:
$ rosrun xacro xacro -inorder -o <output_urdf_file> <input_xacro_file>$ check_urdf <urdf_file>$ rosrun rviz rviz
We will use a xacro file for the Motoman Industrial Robots model for our experiment and learning. We can find the xacro file in the sia10f_description package in the chapter10_tutorials/model/ folder.
Fortunately, MoveIt! provides a very nice and easy-to-use GUI, which will help us interact with the robot in order to perform motion planning. However, before being able to actually use MoveIt!, ...