|Note: This tutorial assumes that you have completed the previous tutorials: Arm Software Installation Instructions.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Configure your arm to use MoveIt!Description: A tutorial explaining how to (re)run the MoveIt! Setup Assistant to accommodate any particularity of your robot arm.
Tutorial Level: INTERMEDIATE
This tutorial is optional, as we already have configured the turtlebot_arm to work on MoveIt! on the turtlebot_arm_moveit_config package. However, if you made changes to your arm geometry, or you want to do the configuration yourself, this MoveIt! tutorial explains you how to do it. You will see that the generated files differ in some aspects from those on turtlebot_arm_moveit_config package, as we have made some improvements and tweaks. But the generated packages should work out-of-the-box.