I am surprised that there isn’t a Gazebo integration topic in this channel. Although MoveIt! has streamlined Gazebo integration, the auto-generated files didn’t work directly in my 3DOF robotics arm’s case. Therefore I needed to solve the problems manually. After I’ve successfully integrated Gazebo and MoveIt!, I have written a Medium post. The post contains steps to follow after setup_assistant finishes its job. It also contains solutions to various subsidiary problems. At the end there are pointers to external links with similar context, which I didn’t notice at the beginning of the article. I hope it would be useful for beginners and newcomers.