Creating the MoveIt configuration for an industrial robot

The procedure for creating the MoveIt interface for industrial robots is the same as the other ordinary robot manipulators, except for some standard conventions. The following procedure gives a clear idea about these standard conventions:

1. Launch the MoveIt setup assistant by using the following command:

   roslaunch moveit_setup_assistant setup_assistant.launch

2. Load the URDF from the robot description folder or convert xacro to URDF and load the setup assistant.
3. Create a self-collision matrix with Sampling Density of ~ 80,000. This value can increase the accuracy of collision checking in the arm.
4. Add a virtual joint, as shown in the following screenshot. Here, the virtual and parent frame names are arbitrary:

   Figure 15.2 – Adding MoveIt – virtual joints

5. In the next step, we are adding planning groups for the manipulator and end effectors. Here, also, the group names are arbitrary...