MoveIt generates PR2 moveit.rviz file regardless

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MoveIt Setup Assistant uses a directory of template files to generate the moveit package. The moveit.rviz template includes several PR2-specific elements, as you have identified.

In general, these elements don't affect the operation of rviz, and are automatically overwritten with the correct values for your robot when the rviz visualization is first launched. If you select File -> Save Config, you can save this updated config over the default package-generated moveit.rviz and see that it's updated for your robot.

However, as you have seen, the Fixed Frame must be set properly for your robot before you can interact with it. But this is an easy fix. At the top of the ''Displays'' list, find the Global Options -> Fixed Frame setting. Click on the value, and pick one of the options from the drop down list. Typically, the link closest to the base is used.

You'll need to manually change this value for each package generated by the MoveIt Setup Assistant. But it's easy. And once you save the config file, it'll be correct for your moveit package.

Edit:
When generating a PR2 MoveIt package (e.g. following the MoveIt Quick Start tutorial), you will have the same issue described above. Normally, in the full PR2 startup sequence, there are other nodes publishing a transform to the odom_combined link. In this case, you would be able to interact with the robot as all required transforms are present. But, just running the PR2 MoveIt package on its own, that transform is missing. So, you'll need to change the Fixed Frame to one of the defined PR2 links (e.g. base_link).