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In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "stnadard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package rather than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "stnadard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package rather than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "stnadard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package rather than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "stnadard" "standard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package rather than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "standard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

You can (and probably should) of course look at the existing configuration package to make sure you're using the same settings for key parts.

In this case, is it necessary to create a MoveIt configuration package using the MoveIt Setup Assistant (MSA) again?

it's almost always better to create your own MoveIt configuration package rather than reusing a "standard" one from somewhere else.

Main reason: MoveIt only really works well when it has up-to-date and correct information about your robot, its environment, any attached end-effectors, (changed) joint limits, etc, etc.

A standard MoveIt configuration package (or one created by someone else) cannot contain that information, as your robot workcell and/or environment will be unique to your application.

So although a lot of settings will probably end up being identical to those in the "standard" package, enough will be different and by creating your own package you are sure it will be compatible with your robot and its workcell.

You can (and probably should) of course look at the existing configuration package to make sure you're using the same settings for key parts.

Edit:

Even though that we use MSA, the input urdf will be the one taken from the repositories. The idea being that it would be complete and correctly developed. As for the environment, we have a separate system that using cameras, calculates bounding boxes of environment obstacles (humans and others), and can send us their key dimensions necessary to formulate obstacles within MoveIt / ROS.

This can work, but what about the parts the robot is mounted on? Do you also insert that as collision objects?

That could work, but seems unnecessary to me: I doubt the robot changes its mounting at runtime? It would make sense to me to add a priori known static obstacles to a URDF describing your workcell (or whatever equivalent you have).

Besides whether it's necessary or not: adding static objects to your URDF will allow MoveIt to incorporate them into its pre-calculated collision matrix, which will result in fewer collision checks to run when planning. That seems like a worthwhile optimisation to make.

Secondly, if we did use locally created MoveIt configs, then, in the launch file, in addition to our developed motion planning node, we must replicate all those nodes/launch files that are included in the standard launch files (planning context, joint_state_publisher, robot_state_publisher, move_group etc). ? Is there a list of nodes/launch files that must be present in our launch file. ? and the order in which these appear does not matter? thanks,

Unless I'm mistaken, the .launch files provided by UniversalRobots/Universal_Robots_ROS_Driver are not started by the MoveIt configuration packages. You have to do that yourself. So that doesn't seem to be any different from what the result would be from running the MSA yourself again, would it?