1 apt installation dependencies in the workspace directory
When the configuration is completed for the first time, because the Ubuntu version is not 14.04.1 or 14.04.2, Ubuntu is not compatible with ROS components and it runs incorrectly.
These two versions are the Ubuntu versions used by ROS developers back then.
Run the following command to install most dependent libraries
sudo apt-get install ros-indigo-moveit
rosdep install --from-paths src -iy
The robotic arm we use
https://github.com/turtlebot/turtlebot_arm/tree/indigo-devel
Unzip it in the ROS workspace
2 Install two undetected dependent libraries
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
decompress
catkin_make
The installation is complete
Then learn the official moveit documentation, as well as rviz, gazebo, and robotic arm model description files.
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The following is the source address that moveit depends on
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
source
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 -
install command
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