ROS中遇到的问题

环境：Ubuntu16.04

ROS的版本：kinetic

报错情况：

ERROR：cannot launch node of type [moveit_ros_move_group/move_group]: moveit_ros_move_group
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/yzx/worksp/src
ROS path [2]=/home/yzx/ros_ws/src
ROS path [3]=/opt/ros/kinetic/share
和
[ERROR] [1540039551.405004038]: PluginlibFactory: The plugin for class ‘moveit_rviz_plugin/MotionPlanning’ failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
原因：没有安装moveit

解决方法：sudo apt-get install ros-kinetic-moveit

如果是Ubuntu18.04，则把kinetic改成对应的melodic即可！