The MoveIt! Setup Assistant is a graphical user interface for configuring any robot to MoveIt!. Basically, this tool generates SRDF, configuration files, launch files, and scripts generating from the robot URDF model, which is required to configure the move_group node.
The SRDF file contains details about the arm joints, end-effector joints, virtual joints, and the collision link pairs, which are configured during the MoveIt! configuration process using the Setup Assistant tool.
The configuration file contains details about the kinematic solvers, joint limits, controllers, and so on, which are also configured and saved during the configuration process.
Using the generated configuration package of the robot, we can work with motion planning in RViz without the presence of a real robot or simulation interface...
