平台:Ubuntu16.04.4 ROS Kinetic
1.下载pr2_moveit_config并编译
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/davetcoleman/pr2_moveit_config.git
cd ..
安装依赖包:
rosdep install --from-paths src --ignore-src --rosdistro kinetic
catkin_make
source ~/catkin_ws/devel/setup.bash