[This thread](https://groups.google.com/a/rethinkrobotics.com/forum/#!topic/brr-users/lDFKQDMGKyE) helped me to run the following commands for MoveIt! along with `baxter_gazebo`.
roslaunch baxter_gazebo baxter_world.launch
rosrun baxter_interface joint_trajectory_action_server.py -l both
roslaunch baxter_moveit_config demo_baxter.launch
And [as usual with Baxter](http://sdk.rethinkrobotics.com/wiki/Enable_Robot_Example), the robot is "enabled" by `rosrun baxter_tools enable_robot.py -e` in advance.
Init pose of the robots on both RViz and Gazebo look coordinated, but MoveIt! never succeeds in planning. It says `Start state appears to be in collision with respect to group both_arms` when MoveIt! is initialized but I'm not sure how to resolve it.
All is well! Everyone is happy! You can start planning now!
[ INFO] [1456444700.284449635, 239.399000000]: Ready to take MoveGroup commands for group both_arms.
[ INFO] [1456444700.284619271, 239.399000000]: Looking around: no
[ INFO] [1456444700.284762549, 239.399000000]: Replanning: no
[ INFO] [1456444741.755292645, 280.084000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456444741.756526434, 280.084000000]: Found a contact between 'r_gripper_r_finger_tip' (type 'Robot link') and 'r_gripper_r_finger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1456444741.756576843, 280.084000000]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1456444741.756623440, 280.084000000]: Start state appears to be in collision with respect to group both_arms
[ WARN] [1456444742.559982065, 280.880000000]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
[ INFO] [1456444742.561598014, 280.881000000]: Planner configuration 'both_arms[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1456444742.562711130, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.562794759, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.562921643, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563062573, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563118444, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563165882, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563367340, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563404655, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563467942, 280.883000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001411 seconds
[ WARN] [1456444742.563581499, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563622325, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563673372, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563717336, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563765615, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563803511, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563862642, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563912097, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.564078209, 280.883000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000511 seconds
[ WARN] [1456444742.564157505, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.564195078, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.564371569, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.564429897, 280.884000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.564474110, 280.884000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000328 seconds
[ WARN] [1456444742.571535317, 280.891000000]: Goal sampling thread never did any work.
[ INFO] [1456444742.571665828, 280.891000000]: Unable to solve the planning problem
[ WARN] [1456444742.576860238, 280.896000000]: Fail: ABORTED: No motion plan found. No execution attempted.
^C[rviz_tork_kudu1_27042_408594158418540515-2] killing on exit
[move_group-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
$ dpkg -p ros-indigo-baxter-moveit-config ros-indigo-baxter-gazebo ros-indigo-moveit-ros |grep Ver
Version: 1.0.5-0trusty-20160210-144300-0800
Version: 1.2.12-0trusty-20160215-044841-0800
Version: 0.7.0-0trusty-20160201-120956-0800
↧