Install the following:
sudo apt-get install ros-kinetic-moveit-simple-controller-manager
Clone the following repos:
git clone https://github.com/ros-industrial-consortium/descartes_tutorials.git
git clone https://github.com/ros-industrial/abb.git
Install dependencies:
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
Then build.
Very basic tutorial. Moves a robot along a straight line by specifying where to put the tool. Note that more extensive documentation can be found in tutorial1.cpp.
roslaunch descartes_tutorials setup.launch
rosrun descartes_tutorials tutorial1
A more complex tutorial. The robot is holding a puzzle piece and moves the perimeter around a fixed grinder in the environment.
roslaunch tutorial2_moveit_config planning_execution.launch
rosrun descartes_tutorials tutorial2