已解决，ur机械臂在rviz下moveit不显示

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

运行代码后之后，不能显示Robotmodel，这是为什么呢

但moveit gazebo却能显示

在universal_robot/ur_desription/urdf中并没有urdf文件，只有.xacao，会不会是这个原因呢？还是我缺少什么安装包。

解决办法如下，原因是没有先启动gazebo

roslaunch ur_gazebo ur5_bringup.launch

MoveIt! with a simulated robot Again, you can use MoveIt! to control the simulated robot.

For setting up the MoveIt! nodes to allow motion planning run:

roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true

For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:

roslaunch ur5_moveit_config moveit_rviz.launch

但是在motion planning 时候仍会出现问题，逆解过程会撞到地面，显然不能应用在实际中