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A tutorial to setup any arm with moveit


I wrote a tutorial to help people to design and set up their robotic arms with moveit!
I originally posted this on reddit under r/robotics and people suggested that I post it here.

Hope it helps!

Blog -


Nice article especially the solid works to urdf part!!!

I would just would like to see more detail on how to set up ros control too

  • controller manager + follow joint trajectory configuration
  • gazebo ros control plugin or hardware interface for real robot
  • to potentially avoid ros control -> custom action server that moveit requires (which usually gets automatically done by ros control)
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