Moveit

Reference:
https://blog.youkuaiyun.com/qq_38288618/article/category/7065757
https://blog.youkuaiyun.com/Kalenee
https://blog.youkuaiyun.com/xu1129005165/article/details/70037698
https://blog.youkuaiyun.com/lingchen2348/article/details/80300069
https://www.cnblogs.com/lvchaoshun/p/6681577.html
https://blog.youkuaiyun.com/u014077947/article/details/80336026?utm_source=blogxgwz1
Moveit 官网：
http://moveit.ros.org/documentation/concepts/

https://blog.youkuaiyun.com/qq_38288618/article/details/78583478

ros_controller:
https://blog.youkuaiyun.com/cookie909/article/details/79787333
http://wiki.ros.org/joint_trajectory_controller#Action_interface