Creating a robotic arm model using MoveIT

In this video tutorial, I explained multiple details for creating robotic arm using moveIT, and viewing it in rviz. This tutorial is divided into following steps. In order to cover all the details follow the steps explained in video.

1. Installing moveit.

2. Creating a static robotic arm model,

3. Running the moveit Setup assistant,

4. Loading the urdf model,

5. Generating the collision matrix,

6. Creating Virtual joints,

7. Adding the right arm planning group,

8. Adding the gripper joints,

9. Defining robot poses

10. Generating the Configuration files.

References
1. wiki ROS.
2. Wiki MoveIT,
3, ROS by example v2 book