ros 安装moveit

Binary Installation Instructions

MoveIt! is released every month or so into Ubuntu debian packages via the ROS infrastructure. For more information see the target platforms.

MoveIt! is currently released into ROS Indigo, Kinetic, and Lunar.

Developers: see source install instructions.

Virtual Machines: There have been many reports of problems with the ROS visualization tool RViz when used in virtual machines.We therefore discourage the use of virtual machines with MoveIt! unless you are not interested in visualization support.

Prerequisite: Install ROS

Follow all the instructions to install ROS Indigo, Kinetic, orLunar. Please make sure you have followed all steps, including calls to rosdep.

Choose your ROS distribution below:

---

ROS Indigo

Note for Ubuntu 13.04 32 bit users: There is a bug with GCC 4.7 on Ubuntu 13.04 32bit with Eigen 3.1.2. It’s not likely to be fixed, so upgrade/downgrade your system to 13.04 64 bit resp. 12.04.

Install Ubuntu Packages

Simply run:

sudo apt-get install ros-indigo-moveit

Optional: Install PR2 Ubuntu Packages for MoveIt!

sudo apt-get install ros-indigo-moveit-full-pr2

Setup your environment

source /opt/ros/indigo/setup.bash

See bottom of page for quick start

---

ROS Kinetic

Install Ubuntu Packages

Simply run:

sudo apt-get install ros-kinetic-moveit

Setup your environment

source /opt/ros/kinetic/setup.bash

See bottom of page for quick start

---

ROS Lunar

Install Ubuntu Packages

Simply run:

sudo apt-get install ros-lunar-moveit

Setup your environment

source /opt/ros/lunar/setup.bash

See bottom of page for quick start

---

Previous ROS Versions

See Source Installation Instructions for unsupported versions of MoveIt!

---

Quick Start

Try planning in Rviz with the PR2 move_group demo: MoveIt! Rviz Plugin Tutorial