$ 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