Once Moveit has been configured, we can test our robot arm manipulation using the GUI interface (RViz plugin):
- Launch the mobile manipulator in Gazebo:
$ initros1$ source devel/setup.bash$ roslaunch robot_description mobile_manipulator_gazebo_xacro.launch
- In a new Terminal, open the move_group.launch file that was auto-generated by the Moveit setup assistant wizard:
$ initros1$ source devel/setup.bash$ roslaunch robot_description_moveit_config move_group.launch
Your Terminal's output would be similar to what's shown in the following screenshot:
- Now, let's open RViz to control the ...