To start the MoveIt! Setup Assistant tool, we can use the following command:

 $ roslaunch moveit_setup_assistant setup_assistant.launch  

This will bring up a window with two choices: Create New MoveIt! Configuration Package or Edit Existing MoveIt! Configuration Package. Here we are creating a new package, so we need that option. If we have a MoveIt! package already, then we can select the second option.

Click on the Create New MoveIt! Configuration Package button, which will display a new screen, as shown next:

In this step, the wizard asks for the URDF model of the new robot. To give the URDF file, click on the Browse button and navigate to mastering_ros_robot_description_pkg/urdf/ seven_dof_arm.urdf. Choose this file and press the Load button to load the URDF. We can either give the robot model as pure URDF or xacro; if we give xacro, the tool will convert to RDF internally.

If the robot model is successfully parsed, we can see the robot model on the window, as shown in the following screenshot: