How to correctly configure MoveIt! for each workspace?

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I'm currently learning MoveIt and was trying to understand how to setup up my workspaces. I was wondering if MoveIt is installed system-wide or do I have to include it in every workspace I build?

I installed MoveIt using the getting started tutorial: https://ros-planning.github.io/moveit...

I created a workspace manually (https://drive.google.com/drive/folder...), added robot URDFs from different sources, and tried to create configuration files using MoveIt but was unsuccessful. I was only able to load the rrbot urdf provided in the tutorials and for that too I could not set the default joint poses in the setup assistant.

This is the error I get when I try to adjust poses for the rrbot -

![Unable to set pose for rrbot](/upfiles/16231640911731912.png)

This is the error I get when I try to include urdfs for other robots (BMDA3 Robot from https://github.com/ros-industrial/motoman_experimental) (nothing happens when I try to click 'Show Default Pose', 'MoveIt', 'Edit Selected' or 'Add Pose') - 

![Error while loading Motoman BMDA3 URDF file](/upfiles/16231641115259853.png)

My setup is Ubuntu 20.04 with ROS Noetic.

Any help/advice/suggestion is greatly appreciated!

The error log associated with trying to seutp BMDA3 robot is as follows -

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://OR-LIN-9WG:41151/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

auto-starting new master
process[master]: started with pid [66874]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5eba220a-c80f-11eb-87f1-8312c45d788f
process[rosout-1]: started with pid [66884]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [66887]
[rospack] Error: package 'motoman_bmda3_support' not found
[librospack]: error while executing command
[ INFO] [1623125555.596477531]: Loaded motoman_bmda3 robot model.
[ INFO] [1623125555.597522304]: Setting Param Server with Robot Description
[ INFO] [1623125555.602743643]: Robot semantic model successfully loaded.
[ INFO] [1623125555.602767823]: Setting Param Server with Robot Semantic Description
[ INFO] [1623125555.613970597]: Loading robot model 'motoman_bmda3'...
[ INFO] [1623125555.614003429]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rospack] Error: package 'motoman_bmda3_support' not found
[librospack]: error while executing command
[ERROR] [1623125555.631194793]: Error retrieving file [package://motoman_bmda3_support/meshes/bmda3/collision/base.stl]: Package [motoman_bmda3_support] does not exist
[ WARN] [1623125555.631259380]: Link base has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'motoman_bmda3_support' not found
[librospack]: error while executing command
[ERROR] [1623125555.647209547]: Error retrieving file [package://motoman_bmda3_support/meshes/bmda3/collision/torso_link.stl]: Package [motoman_bmda3_support] does not exist
[ WARN] [1623125555.647240195]: Link torso_link_b1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rospack] Error: package 'motoman_bmda3_support' not found
[librospack]: error while executing command
[ERROR] [1623125555.663217312]: Error retrieving file 
...
[package://motoman_bmda3_support/meshes/bmda3/collision/right_link_e.stl]: Package [motoman_bmda3_support] does not exist
[ WARN] [1623125555.774646430]: Link right_link_e has visual geometry but no collision ...