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## note.0= [[Robots/REEM-C/Tutorials/launch]]
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## description = This tutorial will show you how to play with Move It ! with the REEM-C robot.
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<<TableOfContents(4)>>

== Launch REEM-C simulation ==
First launch the REEM-C simulation with the joint trajectory controllers, as explained in previous tutorials:

{{{
roslaunch reemc_gazebo reemc_empty_world.launch
roslaunch reemc_controller_configuration joint_trajectory_controllers.launch
}}}
== Test RVIZ MoveIt! plugin ==
Open RVIZ:

{{{
rosrun rviz rviz
}}}
And load the robot model ''Add'' > ''Planning Request'' > ''By display type'' > ''RobotModel''.

{{attachment:reemc-moveit-kinematic.png||width="100%"}}

If the robot doesn't appers, it will be necessary to change the ''Fixed Frame'' to base_link

Then insert the ''MotionPlanning ''plugin ''Add'' > ''Planning Request'' > ''By display type'' > ''MotionPlanning''.

Go to ''MotionPlanning'' (top left) > ''Planning Request'' > ''Planning Group'' And choose ''right_arm_torso''.

{{attachment:motionplanning-rviz.png||width="80%"}}

Drag the ball marker on the right arm to a desired pose, adjust orientation with the wheel-like markers. {{attachment:reemc-marker-rviz.png||width="70%"}}

Go to the Planning tab (down left)

1) Click '''Update''' (on the Select Start State) to update the initial pose to the current robot pose.

2) Click on '''Plan''' to create a plan from current state to the marker pose. You will see an animation of the plan.

3) Click on '''Execute''' to send the plan to the controllers so the robot moves. The robot should move to the desired pose following the previewed plan. {{attachment:motion-planning-interface.png||width="80%"}}

Further information can be found in the [[http://moveit.ros.org/documentation/tutorials/|MoveIt! tutorials]], in particular about the [[http://docs.ros.org/api/moveit_ros_visualization/html/doc/tutorial.html|Rviz plugin]].

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