In this section, we will learn how to create a MoveIt package for our industrial robot. By completing this section, we will be able to create a package that allows our robot to perform motion planning.

As we mentioned in the previous section, MoveIt is a very complex and useful tool. So, within this subsection, we are not going to dive into the details of how MoveIt works, or all the features it provides.

Fortunately, MoveIt provides a very nice and easy-to-use GUI, which will help us interact with the robot in order to perform motion planning. However, before being able to actually use MoveIt, we need to build a package. This package will generate all the configuration and launch files required for using our defined robot (the one that is defined in the URDF file) with MoveIt.