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MoveIt with rrbot

Hello,

Has anyone implemented MoveIt with rrbot? Would you mind sharing your code? [Rrbot is used to introduce ROS controls in gazebosim tutorials: http://gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros . ]

My goal is to learn how to set-up MoveIt with a very simple robot so its joints could be moved in a simulator. I have configured MoveIt setup assistant and I can plan paths towards the goal position. However, I am struggling with plan execution.

I am raising this questions because I could not find any tutorials for this and I believe there are a lot of students who would benefit from step-by-step explanation about full MoveIt set-up.

Thank you in advance.

John