第一步:
roslaunch ur_gazebo ur5_bringup.launch
第二步:
roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true
第三步:
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
结果显示
rostopic echo /eff_joint_traj_controller/follow_joint_trajectory/goal