如果运行franka_ros例程出现[ERROR] libfranka: Move command rejected: command not possible in the current mode! 在终端中输入：来消除错误rostopic pub -1 /franka_control/error_recovery/goal franka_msgs/ErrorRecoveryActionGoal {}然后再次运行所要运行的launch或者可执行文件
解决方式参考来源：https://github.com/frankaemika/franka_ros/issues/19
