First of all, we'll need to launch the MoveIt setup assistant. We can do that by typing the following command:
$ roslaunch moveit_setup_assistant setup_assistant.launch
We will see something like what is shown in the following screenshot:
Great! We are now at the MoveIt Setup Assistant. The next thing we'll need do is load our robot file. So, let's continue!
Click on the Create New MoveIt Configuration Package button. ...