一,安装moveit,这是一个Motion Planning Framework
sudo apt install ros-melodic-moveit
利用rviz显示实验,参考网站:
http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html
安装moveit,参考网站https://moveit.ros.org/
https://moveit.ros.org/install/
二,安装OMPL,运动规划库
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-melodic-ompl
参考网站:https://ompl.kavrakilab.org/core/installation.html
https://ompl.kavrakilab.org/core/