1 工作空间目录下apt安装依赖
第一次配置完的时候，因为Ubuntu版本不是14.04.1或者14.04.2，导致Ubuntu不兼容ROS组件而运行出错。
这两个版本是ROS开发人员当年用的Ubuntu版本。
运行以下命令，安装大多数依赖库
sudo apt-get install ros-indigo-moveit
rosdep install --from-paths src -iy
我们使用的机械臂
https://github.com/turtlebot/turtlebot_arm/tree/indigo-devel
解压在ROS工作空间下
2 安装两个未检测到的依赖库
moveit_resources
https://github.com/ros-gbp/moveit_resources-release/tree/rpm/indigo/heisenbug/moveit_resources
shape_tools
https://github.com/ros-planning/shape_tools
解压
catkin_make
安装完成
之后学习moveit官方文档、以及rviz、gazebo、机械臂模型描述文件。
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以下是moveit依赖的源码地址
moveit_ros_planning
http://wiki.ros.org/moveit_ros_planning
moveit_msgs
https://github.com/ros-planning/moveit_msgs
moveit_simple_grasps
https://github.com/davetcoleman/moveit_simple_grasps/tree/indigo-devel
object_recognition_msgs-master
https://github.com/wg-perception/object_recognition_msgs
octomap_msgs
https://github.com/OctoMap/octomap_msgs/tree/indigo-devel
srdfdom
https://github.com/ros-planning/srdfdom/tree/indigo-devel
urdf_parser_py
https://github.com/ros/urdf_parser_py/tree/melodic-devel
https://github.com/ros/urdf_parser_py/commits/indigo-devel
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moveit_resources
https://github.com/ros-gbp/moveit_resources-release/tree/rpm/indigo/heisenbug/moveit_resources
shape_tools
https://github.com/ros-planning/shape_tools
FCL
sudo apt-get install ros-indigo-fcl
GLUT
sudo apt-get install build-essentialsudo
apt-get install libgl1-mesa-devsudo
apt-get install libglu1-mesa-devsudo
apt-get install libglut-dev
sudo apt-get install freeglut3-dev
OMPL
源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
安装命令
sudo apt-get update sudo apt-get install ros-`rosversion -d`-ompl
Warehouse_ros
https://github.com/ros-planning/warehouse_ros
controller_manager-----ros_control
https://github.com/ros-controls/ros_control/tree/indigo-devel
realtime_tools
https://github.com/ros-controls/realtime_tools/branches
control_toolbox
https://github.com/ros-controls/control_toolbox/tree/indigo-devel
moveit_visual_tools
https://github.com/davetcoleman/moveit_visual_tools/tree/indigo-devel
rviz_visual_tools
https://github.com/PickNikRobotics/rviz_visual_tools/tree/indigo-devel
graph_msgs
https://github.com/davetcoleman/graph_msgs/tree/indigo-devel
how-to-install-mongodb-on-ubuntu-16-04
http://www.tutorialspoint.com/articles/how-to-install-mongodb-on-ubuntu-16-04