MoveIt! 学习笔记3- MoveIt RobotModel and Robot State (读取机器人关节等信息，测试正解逆解是否可行)

此博文主要是用来记录ROS-Kinetic 中，用于机器人轨迹规划的MoveIt功能包的学习记录。 

英文原版教程见此链接：http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html

 引： MoveIt RobotModel Robot_State这个教程主要是用来检查URDF+SRDF文件内容，查看机器人关节限制，设置坐标，检测机器人是否能够通过正解和逆解的方式，达到预设坐标点；虽然在这个教程里，这些功能用来做测试，但是，在以后的项目中，可以用其作为参考，进行运动学正逆解规划测试等，很有学习必要。

注：MoveIt教程基本上都是通过官方案例程序，展示具体实现的过程和代码信息，所以本博文采用在官方程序中，添加中文注解的方式，进行学习和记录。

 

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