This repository has two packages. kuka_barrett_moveit_generated is the one created by MoveIt Setup Assistant. kuka_barrett_moveit_test contains a few nodes to work with MovieIt. roslaunch demo in the first package and then rosrun nodes in the second package to plan motion randomly or to a specific goal, add objects or remove them and finally check the collision.
ommmid/kuka_barrett_moveit_pkg
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