安装Schunk雄克臂的驱动并编译代码

1.sudo apt-get install ros-indigo-schunk-canopen-driver
 
2.rosrun fzi_icl_can install_pcan_module.sh

3.把我的zp_moveit文件夹直接拷贝过去

4.source一下或者改变bashrc文件(sudo gedit ~/.bashrc 添加source /home/lxz/zp_moveit/devel/setup.bash)

5.catkin_make

6.source devel/setup.bash --全局变量配置