MoveIt! provides a user-friendly graphical interface for the purpose of integrating a new robotics arm into it. The Setup Assistant takes care of generating all of the configuration files and launch scripts based on the information provided by the user. In general, it is the easiest way to start using MoveIt! as it also generates several demonstration launch scripts, which can be used to run the system without a physical arm or simulation in place.
In order to launch the Setup Assistant, the following command needs to be executed in a terminal:
$ roslaunch moveit_setup_assistant setup_assistant.launch
Once the command has been executed, a window ...