sudo apt-get install ros-hydro-moveit-full

Moveit configuration for the crustcrawler ax12 depends on the au_crustcrawler_base package

This package provides a default configuration of moveit for the crustcrawler robot

roslaunch au_crustcrawler_moveit demo.launch

note: remember to tick the "Allow Approximate IK solutions" checkbox (lower left of image).

roslaunch au_crustcrawler_base base.launch

Wait for the motor to be initialised

In another terminal window

roslaunch au_crustcrawler_base meta.launch

and then

roslaunch au_crustcrawler_moveit real_robot.launch

Use the interactive marker to move the tip of the robot to a new position and to go the Planning Tab in the lower left area and click "plan & execute", the robot should now move to the commanded position.

The robot can also be commanded using the moveit group python API.

see example

Note that the trajectories generated by moveit via the python API are automatically visualised in RVIZ.