moveit2的环境配置

相关库的安装

1、官方文档地址

https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

2、安装 colcon-mixin

sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

3、安装vcstool

sudo apt install python3-vcstool

4、创建工作空间拉取moveit2文件和tutorals文件

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
git clone -b <branch> https://github.com/moveit/moveit2_tutorials
vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos
#一次性拉取多个库

5、编译

sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
#为缺失的库下载相关包
cd ~/ws_moveit
colcon build --mixin release
#进行编译

6、source

source ~/ws_moveit/install/setup.bash
echo 'source ~/ws_moveit/install/setup.bash' >> ~/.bashrc