MoveIt! provides a very useful and complete RViz plugin that gives the user the ability to perform several actions, such as plan different goals, add and remove objects to the scene, and so on. The Setup Assistant usually creates a number of launch files, among which there is one called demo, which takes care of launching MoveIt! as well as the fake controllers, RViz, and the plugin. In order to start the demonstration, run the following command:
$ roslaunch rosbook_arm_moveit_config demo.launch
Once RViz launches, a motion planning panel should appear as well as the visualization of the robotic arm. The important tabs we need to consider are the Planning tab and the Scene objects tab. In the Planning tab, the user ...
