ROS的Moveit安装&安装OMPL

一，安装moveit，这是一个Motion Planning Framework

sudo apt install ros-melodic-moveit

利用rviz显示实验，参考网站：
http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html
安装moveit，参考网站https://moveit.ros.org/
https://moveit.ros.org/install/

二，安装OMPL，运动规划库

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 -

sudo apt-get update

sudo apt-get install ros-melodic-ompl

参考网站：https://ompl.kavrakilab.org/core/installation.html
https://ompl.kavrakilab.org/core/