$ cd ~/catkin_ws/src
$ catkin create pkg iiwa_14_r820_robot_bringup --catkin-deps iiwa_14_r820_robot_control iiwa_14_r820_robot_description iiwa_14_r820_robot_gazebo
$ catkin build
$ source ~/.bashrc
iiwa_14_r820_robot_bringup/launch/bringup.launch
<launch>
<include file="$(find iiwa_14_r820_robot_gazebo)/launch/bringup.launch"/>
<include file="$(find iiwa_14_r820_robot_control)/launch/bringup_controllers.launch"/>
</launch>
$ roslaunch iiwa_14_r820_robot_bringup bringup.launch
MoveIt Setup Assistant를 실행
$ roslaunch moveit_setup_assistant setup_assistant.launch