File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 87, in <module>
MoveItIkDemo()
File "/home/hh/ws_moveit/src/robot_marm/marm_planning/scripts/moveit_ik_demo.py", line 65, in __init__
arm.execute(traj)
File "/home/hh/ws_moveit/src/moveit/moveit_commander/src/moveit_commander/move_group.py", line 685, in execute
return self._g.execute(conversions.msg_to_string(plan_msg))
File "/home/hh/ws_moveit/src/moveit/moveit_commander/src/moveit_commander/conversions.py", line 50, in msg_to_string
msg.serialize(buf)
AttributeError: 'tuple' object has no attribute 'serialize'
1.新建arm_moveit_config/scripts/moveit_ik_demo.py