问题:
1、 moveit.1.1.2版的moveit设置助手生成的功能包,如果直接运行 launch XXXXX(包名) demo.launch 时会报错:
Resource not found: moveit_resources_prbt_moveit_config
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/ros-noetic/moveit_test/src
ROS path [2]=/opt/ros/noetic/share
The traceback for the exception was written to the log file
提示:找不到moveit_resources_prbt_moveit_config
2、 按照解决1解决后再次运行 launch XXXXX(包名) demo.launch 还会出现有红色警告:
[ERROR] [1620889941.382904614]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1620889941.384187265]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
提示:未能初始化管道‘pilz_industrial_motion_planner’
解决:
1、 通过使用如下命令安装该包可解决问题
sudo apt install ros-noetic-moveit-resources-prbt-moveit-config
2、 通过使用如下命令安装该包可解决问题
sudo apt install ros-noetic-pilz-industrial-motion-planner