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在已经安装ROS-melodic之后，再进行一下操作。如果你没有安装ROS，请务必先安装。安装方法可以查看官网。
link：http://wiki.ros.org/melodic/Installation/Ubuntu
1 安装moveit
去官网查找安装moveit的方式，link：http://moveit.ros.org/install/
选择的是二进制安装方式：
在安装之前先对安装好的ROS系统更新一下，使用如下指令：
$ rosdep update
$ sudo apt-get update
$ sudo apt-get dist-upgrade
然后安装moveit：
$ sudo apt-get install ros-melodic-moveit2 创建moveit的工作空间
为了区分开ROS的工作空间，新建一个ws_moveit的文件夹，作为moveit的工作空间
$ mkdir -p ws_moveit/src然后下载教程演示的demo包到src文件夹下：
$ cd ws_moveit/src
git clone https://github.com/ros-planning/moveit_tutorials.git #moveit_tutorials
git clone https://github.com/ros-planning/panda_moveit_config.git #panda_moveit_config模型配置包URDF的xml语法格式然后按照官网的步骤是，执行一下指令自动配齐依赖包，
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic但是melodic现在没有完整的这一方面的发布包，运行会提示类似如下的错误信息：
~/ws_moveit/src$ rosdep install -y --from-paths . --ignore-src --rosdistro melodic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
panda_moveit_config: Cannot locate rosdep definition for [franka_description]
或者：当我配好franka_description的包后，有提示下面的问题，这样一直配置下去：
~/ws_moveit/src$ rosdep install -y --from-paths . --ignore-src --rosdistro melodic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
franka_visualization: Cannot locate rosdep definition for [libfranka]
franka_control: Cannot locate rosdep definition for [libfranka]
franka_hw: Cannot locate rosdep definition for [libfranka]
franka_example_controllers: Cannot locate rosdep definition for [libfranka]
franka_gripper: Cannot locate rosdep definition for [libfranka]
最后，总结：在下载好moveit_tutorials和模型配置包panda_moveit_config后，继续在github上下载以下几个包，解压到src文件夹下，这样手动配置以下这些melodic没法自动配置的依赖包，然后继续执行上面的命令就可以了！！
The following NEW packages will be installed:
ros-melodic-nodelet ros-melodic-nodelet-topic-tools ros-melodic-pcl-ros
0 upgraded, 3 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/4,199 kB of archives.
After this operation, 23.9 MB of additional disk space will be used.
Selecting previously unselected package ros-melodic-nodelet.
(Reading database ... 288004 files and directories currently installed.)
Preparing to unpack .../ros-melodic-nodelet_1.9.16-0bionic.20180906.224839_amd64.deb ...
Unpacking ros-melodic-nodelet (1.9.16-0bionic.20180906.224839) ...
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Preparing to unpack .../ros-melodic-nodelet-topic-tools_1.9.16-0bionic.20180906.235625_amd64.deb ...
Unpacking ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20180906.235625) ...
Selecting previously unselected package ros-melodic-pcl-ros.
Preparing to unpack .../ros-melodic-pcl-ros_1.6.2-0bionic.20180907.005643_amd64.deb ...
Unpacking ros-melodic-pcl-ros (1.6.2-0bionic.20180907.005643) ...
Setting up ros-melodic-nodelet (1.9.16-0bionic.20180906.224839) ...
Setting up ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20180906.235625) ...
Setting up ros-melodic-pcl-ros (1.6.2-0bionic.20180907.005643) ...
#All required rosdeps installed successfully
因为配置信息太长，就直接去最后提示成功的信息了。
最终src中是这些PKG，按照名字下载即可：
franka_ros: https://github.com/frankaemika/franka_ros
libfranka: https://github.com/frankaemika/libfranka-release/tree/release/kinetic/libfranka
moveit_visual_tools: https://github.com/PickNikRobotics/moveit_visual_tools/tree/melodic-devel
注意一定要配齐每一个包的依赖关系：然后才不会编译出错！！！如果不知道怎么配置每一个包各自的依赖包，请查看我之前的一片文章学习一下：
link: https://blog.csdn.net/SimileciWH/article/details/81332199
3 开始编译moveit的包
执行以下指令：
cd ws_moveit
###catkin config --extend /opt/ros/melodic #不要执行官网写的这一行，下面我会解释
catkin build###catkin config --extend /opt/ros/melodic这一行是设置catkin编译构建的环境目录，对于melodic版本如果使用了，则默认的catkin构建目录就不在是你ROS的那个工作目录，全部非二进制安装的包，或者你为ROS写的包，如果在move'it的使用find package去搜这些包，都会找不到，因为这一句讲catkin的搜寻目录设置在了安装ROS的目录。当然你可以自己添加，这里避免不必要的麻烦，我不推荐执行这一句指令！！！
3.1 在执行catkin build时提示，
1）[missing] /home/simileciwh/ws_moveit/logs
2）[missing] /home/simileciwh/ws_moveit/build )
3）[missing] /home/simileciwh/ws_moveit/devel
这是因为我们没有在工作空间创建Log，Build，Devel三个文件夹，执行这个之后会自动创建，继续执行build命令
3.2 提示：/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp:94:43: error: ‘tf’ has not been declared
点开/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp文件后发现确实没有加入头文件tf.h所以在文件开头，添加即可解决错误
include <tf/tf.h>
至此构建成功！！！
~/ws_moveit$ catkin build
---------------------------------------------------------------
Profile: default
Extending: [explicit] /home/simileciwh/catkin_ws/devel
Workspace: /home/simileciwh/ws_moveit
---------------------------------------------------------------
Source Space: [exists] /home/simileciwh/ws_moveit/src
Log Space: [exists] /home/simileciwh/ws_moveit/logs
Build Space: [exists] /home/simileciwh/ws_moveit/build
Devel Space: [exists] /home/simileciwh/ws_moveit/devel
Install Space: [unused] /home/simileciwh/ws_moveit/install
DESTDIR: [unused] None
---------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
---------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------
[build] Found '12' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> franka_description
Starting >>> franka_msgs
Starting >>> libfranka
Starting >>> moveit_visual_tools
Finished <<< franka_description [ 0.2 seconds ]
Starting >>> panda_moveit_config
Finished <<< moveit_visual_tools [ 0.3 seconds ]
Finished <<< panda_moveit_config [ 0.2 seconds ]
Starting >>> moveit_tutorials
Finished <<< franka_msgs [ 0.6 seconds ]
Finished <<< moveit_tutorials [ 37.9 seconds ]
Finished <<< libfranka [ 4 minutes and 3.4 seconds ]
Starting >>> franka_gripper
Starting >>> franka_hw
Starting >>> franka_visualization
Finished <<< franka_visualization [ 13.2 seconds ]
Finished <<< franka_hw [ 16.0 seconds ]
Finished <<< franka_gripper [ 38.5 seconds ]
Starting >>> franka_control
Finished <<< franka_control [ 22.3 seconds ]
Starting >>> franka_example_controllers
Finished <<< franka_example_controllers [ 38.6 seconds ]
[build] Summary: All 11 packages succeeded!
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 5 minutes and 43.1 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
4 将编译好的包加入到环境中
$ source ~/ws_moveit/devel/setup.bash也可以直接添加到.bashrc文件中，让其在开启新的终端时自动加载环境
$ echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc5 运行效果
执行以下命令运行demo：
$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true最终结果，如下所示：
！！！！！在此之前，需要先设置一下RVIZ，否则什么都不会显示的！！！！！！
设置如下：
（1）点击打开的空白rviz窗口左侧的add按钮，找到MotionPlanning，确定。如下图所示：
设置完成，会看到下图内容：
继续设置：
在“Global Options”标签处，子窗口“Displays”选项卡，设置 Fixed Frame为/panda_link0
然后点击“MotionPlanning”标签，找到如下显示的标签，做修改：
Robot Description---->设置成robot_description
Planning Scene Topic---->设置成/planning_scene
Planning Request---->设置成panda_arm
Planned Path---->设置成/move_group/display_planned_path
完成这些全部设置，就和我的截图一样效果了。
可以参考官网继续完后设计了：
updating