Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2

错误描述

在使用moveit控制仿真UR机械臂的过程中出现以下错误

[ERROR] [1556172904.265708018, 73.989000000]: Unable to identify any set
 of controllers that can actuate the specified joints: [ joint1 joint2 
 joint3 joint4 joint5 joint6 ]
[ERROR] [1556172904.265747504, 73.989000000]: Known controllers and their joints:
 
[ERROR] [1556172904.265815969, 73.989000000]: Apparently trajectory
 initialization failed

执行指令是：

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

错误原因：

缺少UR支持包

解决方法

sudo apt-get install ros-kinetic-universal-robots

安装相关支持包可解决。