Rviz Plugin/Details

Configuration
To start using the MoveIt! Rviz plugin, you need a launch file to work with your robot. We will illustrate the individual components of this launch file using the example of the PR2 robot. The launch file needs to do the following:
 * Launch the robot description (this loads the URDF and SRDF into ROS parameters)
 * Publish a transform for the virtual joint between odom_combined and base_footprint that was created in the Setup Assistant Quick Start.
 * Publish default joint values on the /joint_states topic. Additionally, map messages from '/move_group/fake_controller_joint_states' which may be sent by a fake controller of the robot to '/source_list', so the joint values are republished as default values.
 * Publish transforms corresponding to all links in the robot (using the values in /joint_states)
 * Launch the planning components for MoveIt!
 * Launch the visualization component of MoveIt!