The following tutorials are provided to walk through the steps of creating a MoveIt package for OUR robot and using MoveGroup class for motion planning to control the OUR robot. Meanwhile, the Rviz also shows the motion as same as the real robot's:

1. MoveIt Setup Assistant for OUR robot
This tutorial describes how to use MoveIt setup assistant to generate some configurations for OUR robot.

2. Plan a trajectory to control the OUR robot motion in the Rviz
This tutorial describes how to use the MoveGroup class to plan an trajectory to control the motion of OUR robot in Rviz.

3. Plan a trajectory to control the OUR robot motion in real world
This tutorial describes how to use the MoveGroup class to plan an trajectory to control a real OUR robot

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