Hello all, I have written a [c++ code] (http://wiki.ros.org/Robots/TIAGo/Tutorials/MoveIt/Planning_joint_space) to send pose to robot joints and visualise it using rviz.
Now i want to visualise this motion planning on Gazebo. I have found this [tutorial](http://wiki.ros.org/Robots/TIAGo/Tutorials/MoveIt/Planning_joint_space) which shows a similar implementation.
I see several launch files and .yaml files in the package of those [tutorial](http://wiki.ros.org/Robots/TIAGo/Tutorials/MoveIt/Planning_joint_space). My main question is:
How are those all launch files/ .yaml files are created? I mean how to create this framework to control the gazebo simulated robot from moveit??
Are there any tutorials which explain this??
Any kind of help is appreciated. Thanks in advance.
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