Moveit config for Motoman MH12 robot in ROS Noetic and Moveit 1.
Build the package with motoman_driver in catkin_ws
Start Rviz with following command: (robot_ip is the ip of the DX200 controller)
roslaunch motoman_mh12_moveit_config moveit_planning_execution.launch robot_ip:=192.168.1.2 sim:=false
To run in simulation mode:
roslaunch motoman_mh12_moveit_config moveit_planning_execution.launch sim:=true
To enable the robot run:
rosservice call /robot_enable
To disable the robot run:
rosservice call /robot_disable