动态参数提权

1.注意在cfg文件夹的集成终端中打开

2.编写dr文件时把后缀改为py方便补齐，写完编译之前再改回cfg后缀

否则编译汇报错：

Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

此类报错一般查看你的cmake .. 后上面的一些错误提示和警告，基本上是CMakeLists.txt中的一些库是否链接好了

后缀错误当然会报错

3.报错内容：

SyntaxError: Non-ASCII character '\xe5' in file /home/coal/demo06_ws/src/demo02_dr/cfg/dr.cfg on line 3, but no encoding declared; see http://python.org/dev/peps/pep-0263/ for details
demo02_dr/CMakeFiles/demo02_dr_gencfg.dir/build.make:63: recipe for target '/home/coal/demo06_ws/devel/include/demo02_dr/drConfig.h' failed
make[2]: *** [/home/coal/demo06_ws/devel/include/demo02_dr/drConfig.h] Error 1
CMakeFiles/Makefile2:2092: recipe for target 'demo02_dr/CMakeFiles/demo02_dr_gencfg.dir/all' failed
make[1]: *** [demo02_dr/CMakeFiles/demo02_dr_gencfg.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 73%] Built target demo01_action_generate_messages_py
[ 90%] Built target demo01_action_generate_messages_cpp
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

解决方案：

在该.py的文件头部添加: 下列代码,即可!

  # -*- coding: utf-8 -*

从#号开始复制, 点击运行,即可解决上述问题

4.终端输入rqt启动客户端

https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html