moveit 安装及模拟规划

moveit 安装及模拟规划：
http://moveit.ros.org/install/source/

1)安装依赖工具：
sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

2)创建安装目录：
mkdir ~/ws_moveit
cd ~/ws_moveit

3) 使ROS安装环境生效
source ~/ros_catkin_ws/install_isolated/setup.bash

4) 下载moveit源码
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/melodic-devel/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

5) 配置catkin:
catkin config --extend ~/ros_catkin_ws/install_isolated --cmake-args -DCMAKE_BUILD_TYPE=Release：
这一步如果出错，需要指定workspace: 执行命令：catkin init --workspace .

6) 编译moveit
catkin build 

编译过程中可能会出现一下问题：
 1）Could not find a package configuration file provided by
  "eigen_stl_containers" with any of the following names:

    eigen_stl_containersConfig.cmake
    eigen_stl_containers-config.cmake
 原因是因为缺少了   eigen_stl_containers包，上网页：https://github.com/ros/eigen_stl_containers下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后用命令：./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg eigen_stl_containers安装即可。
 
 2）Could not find a package configuration file provided by "random_numbers"
  with any of the following names:

    random_numbersConfig.cmake
    random_numbers-config.cmake
 原因是因为缺少了random_numbers包，到https://github.com/ros-planning/random_numbers下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后执行命令./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg eigen_stl_containers安装即可。
 
  3）Could not find a package configuration file provided by
  "object_recognition_msgs" with any of the following names:

    object_recognition_msgsConfig.cmake
    object_recognition_msgs-config.cmake
    
    原因是因为缺少了object_recognition_msgs包，到https://github.com/wg-perception/object_recognition_msgs下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后执行命令./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg object_recognition_msgs安装即可。
 
 4） Could not find a package configuration file provided by "octomap_msgs" with
  any of the following names:

    octomap_msgsConfig.cmake
    octomap_msgs-config.cmake
    
    原因是因为缺少了octomap_msgs包，到https://github.com/OctoMap/octomap_msgs下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后执行命令./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg octomap_msgs安装即可。
 
 5）Could not find a package configuration file provided by "graph_msgs" with
  any of the following names:

    graph_msgsConfig.cmake
    graph_msgs-config.cmake
     原因是因为缺少了graph_msgs包，到https://github.com/davetcoleman/graph_msgs下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后执行命令./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg graph_msgs安装即可。
 
 6） Could not find a package configuration file provided by "ompl" with any of
  the following names:

    omplConfig.cmake
    ompl-config.cmake
    原因是缺少ompl库，到https://bitbucket.org/ompl/ompl下载，并按照说明安装。
    
 7）Could not find a package configuration file provided by "warehouse_ros"
  with any of the following names:

    warehouse_rosConfig.cmake
    warehouse_ros-config.cmake
    原因是因为缺少了graph_msgs包，到https://github.com/ros-planning/warehouse_ros下载，然后把文件夹复制到ros_catkin_ws/src下面，
 最后执行命令./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --pkg warehouse_ros安装即可。
 
    
7) 安装完成后执行以下语句以使环境生效
source ~/ws_moveit/devel/setup.bash

8) 执行命令模拟路径规划
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true

roslaunch ur10_moveit_config moveit_rviz.launch config:=true