Once Moveit has been configured, we can test our robot arm manipulation using the GUI interface (RViz plugin):

1. Launch the mobile manipulator in Gazebo:

$ initros1
$ source devel/setup.bash
$ roslaunch robot_description mobile_manipulator_gazebo_xacro.launch

2. In a new Terminal, open the move_group.launch file that was auto-generated by the Moveit setup assistant wizard:

$ initros1
$ source devel/setup.bash
$ roslaunch robot_description_moveit_config move_group.launch

Your Terminal's output would be similar to what's shown in the following screenshot:

3. Now, let's open RViz to control the robot's motion:

$ initros1
$ source devel/setup.bash
$ roslaunch robot_description_moveit_config movit_rviz.launch config:=True

You should see the following window:

4. Go to the Planning tab, select home in Goal State, and click on Plan. You should see a visual of the robot arm planning (moving) to the target position.

5. To actually make the arm move, select Execute:

You should see that the arm moved to the selected position in Gazebo, as shown in the preceding screenshot.

Now, let's learn how to simulate the application.