moveit tutorial

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First, install moveit on your computer

sudo apt update
sudo apt install ros-noetic-moveit

Then you need to have a .urdf.xacro file for the manipulator you are trying to setup. This is the most important part, so make sure you have the correct file.

You can launch the assistant with

 roslaunch moveit_setup_assistant setup_assistant.launch

These are the tabs that you need to setup for the most basic setup:

1. Start: Create New MoveIt Configuration Package
2. Load your robot URDF file
3. Self-Collisions: Generate Collision Matrix
4. Virtual Joint: Create a virtual joint between your robot's base link and the world frame
5. Planning Groups: select KDLKinematicsPlugin and add the necessary joints to the group
6. Robot Poses: add desired robot poses that Moveit will have
7. ROS Control: setup Joint Trajectory Controller
8. Finally, generate the package in your workspace.

You can then test your MoveIt setup by launching the file

roslaunch [your_moveit_config_pkg] demo.launch

If you need a video describing these steps, you can watch this video that takes you through the process above:

https://www.youtube.com/watch?v=QdzmM...