Controlling the robot arm using Moveit

Once Moveit has been configured, we can test our robot arm manipulation using the GUI interface (RViz plugin):

  1. Launch the mobile manipulator in Gazebo:
$ initros1$ source devel/setup.bash$ roslaunch robot_description mobile_manipulator_gazebo_xacro.launch
  1. 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:

  1. Now, let's open RViz to control the ...

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