MoveIt! comes with a plugin for the ROS Visualizer (RViz). The plugin allows you to set up scenes in which the robot will work, generate plans, visualize the output and interact directly with a visualized robot. We will explore the plugin in this tutorial.
NOTE: You will not be able to execute planning motion, because we have not yet set up the controllers for the same. We will do the same in the next step.
(Caution: Only for information, and will not resemble to our setup till now)
Panda arm.