- first create a moveit configuration by following the tutorial at: https://www.youtube.com/watch?v=9aK0UDBKWT8
- this will result in 2 packages: aubo_description and aubo_moveit_config. Note that neither of these package need any modifing. they are ready to use directly as genetated.
- Now it is time to connect to the actual robot hardware. We begin by assuming you have a robot with a microcontroller connected that exposes some method of sending joint commands a well as makes available a continious stream of robot joint feedback. This could be a ROS publish and Subsscribe interface, but it could also be low level serial or ethernet control or other protocol.