2021-08-18

~/Documents/Frank/lib/libfranka/examples$ cd build
~/Documents/Frank/lib/libfranka/examples/build$ cmake ..
~/Documents/Frank/lib/libfranka/examples/build$ make 
~/Documents/Frank/lib/libfranka/examples/build$ ./print_joint_poses 192.168.1.101

连接wpn，
terminal输入ssr+tab键

启动rviz
```cpp
roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=192.168.1.101 load_gripper:=false