morse_and_ros-moveit_example

Example to move a simulated robot in MORSE using MoveIt package from ROS. You can see a video of the system working here.

Process to execute the example:

1. Start 'roscore'.
2. Start morse by executing 'morse run my_simulation' when you are in 'iri_klwr_morse' directory.
3. 'roslaunch iri_klwr_bringup start_moveit_with_klwr_in_morse.launch'
4. 'roslaunch iri_klwr_bringup start_rviz_for_planning.launch'

This code was used on ROS Hydro and MORSE v1.2-11; and I expect that it works also on new versions of ROS and MORSE.