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If you only start the robot_state_visualize_r1000ia80f.launch, which allows you to visualise the current state, but nothing more, you cannot control motion.

If you only start the robot_state_visualize_r1000ia80f.launch, which allows you to visualise the current state, but nothing more, you cannot control motion.

If you only start the robot_state_visualize_r1000ia80f.launch, which allows you to visualise the current state, but nothing more, you cannot control motion.

Edit:

I had added a move_group node in the launch file to be able to experiment with motion control

Do not edit the files in the support packages. For normal usage, there is no need. If you think you need to change something in them, it's most likely because you haven't configured something correctly.

However, later I used the following

roslaunch fanuc_r1000ia80f_moveit_config moveit_planning_execution.launch robot_ip:=192.168.0.4 use_bswap:=false

I was able to see the movements that I performed in rviz being done in Roboguide.

That would indeed be the correct .launch file to use for commanding the robot via MoveIt in Roboguide.

But, now I am getting this error TPIF-052 WARN FWD/BWD is disabled and I cannot run the ROS TP program again.I had tried FCTN->Abort All, but it does not work.

You could see whether FCTN->Disable FWD/BWD helps.

But seeing as you write you could command the robot in Roboguide using MoveIt, there is nothing wrong with the ROS side, including fanuc_driver.

I would suggest you ask Fanuc about your problems with the Teach Pendant and/or your controller.