After editing the configuration and launch files in the MoveIt! configuration, we can start running the robot simulation and can check whether the MoveIt! configuration is working well or not. Ensure that the ros-industrial-simulator package is installed properly. Here are the steps to test an industrial robot:
- Start the robot simulator.
- Start the MoveIt! planning execution launch file using the following command line:
$ roslaunch <robot>_moveit_config moveit_planning_execution.launch
- Open RViz and load the RViz Motion planning plugin, using the Plan and Execute button. We can plan and execute the trajectory on the simulated robot.