1. aubo_robot

aubo六自由度机械臂 官方ros包：https://github.com/lg609/aubo_robot

需要安装的组件包：
1.catkin_make提示缺少industrial_msgs
解决方法：安装industrial_core：https://github.com/ros-industrial/industrial_core

注意：该包不要使用rosdep:会提示缺少aubo_trajectory_filters

安装ros依赖src下依赖：rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

2. moveit_tutorials

moveit 官方教程：http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html
Kinetic moveit教程包：https://github.com/ros-planning/moveit_tutorials

源码安装moveit步骤：

cd ~/ws_moveit/src
git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git
git clone -b kinetic-devel https://github.com/ros-planning/panda_moveit_config.git

cd ~/ws_moveit/src
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

cd ~/ws_moveit
catkin config --extend /opt/ros/kinetic
catkin build

1、moveit 控制真实机械臂报错：

[ INFO] [1573733061.402948338]: SimpleSetup: Path simplification took 0.004728 seconds and changed from 3 to 2 states
[ERROR] [1573733061.407907424]: Unable to identify any set of controllers that can actuate the specified joints: [ foreArm_joint shoulder_joint upperArm_joint wrist1_joint wrist2_joint wrist3_joint ]
[ERROR] [1573733061.407946912]: Known controllers and their joints:

[ERROR] [1573733061.407979651]: Apparently trajectory initialization failed
[ INFO] [1573733061.418022692]: ABORTED: Solution found but controller failed during execution

• 解决方法：貌似是机械臂控制器参数加载不上，之前该Moveit的git包（git下载出现这问题——用以前的也不行）。采用apt-get直接安装。

sudo apt install ros-kinetic-moveit

• 源码安装后还有下列几个包未安装（真实机械臂控制器报错可能原因）

将会同时安装下列软件：
  ros-kinetic-moveit-planners ros-kinetic-moveit-planners-chomp
  ros-kinetic-moveit-plugins ros-kinetic-moveit-ros
  ros-kinetic-moveit-ros-benchmarks ros-kinetic-moveit-ros-control-interface
  ros-kinetic-moveit-setup-assistant
  ros-kinetic-moveit-simple-controller-manager
下列【新】软件包将被安装：
  ros-kinetic-moveit ros-kinetic-moveit-planners
  ros-kinetic-moveit-planners-chomp ros-kinetic-moveit-plugins
  ros-kinetic-moveit-ros ros-kinetic-moveit-ros-benchmarks
  ros-kinetic-moveit-ros-control-interface ros-kinetic-moveit-setup-assistant
  ros-kinetic-moveit-simple-controller-manager
升级了 0 个软件包，新安装了 9 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。