Having a working MoveIt! config - what's next? [closed]

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Hi folks,

from a URDF file made by a collegue of mine I have created a working SRDF configuration by using moveit_setup_assistant. I can run the demo.launch file and play around with the inverse kinematics, planning, execution of trajectories.

Now I'd like to do two things:

• integrate the config into my existing ROS workspace (Hydro, catkin)
• create the necessary nodes to connect the real arm to MoveIt!

But I don't know exactly where to go from here. I have a topic where I can send commands to control the joints of the arm and another topic that I can get information from about the joint state values like position, velocity, torque/effort.

Can anybody point me to what to exactly do next? What do I need to set up? What nodes? Messages? Services? Actions?

Thanks a lot!

Cheers, Hendrik