MoveIt! 源安装

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade

sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

cd ~/catkin_ws/src

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/indigo-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro indigo
cd ..
catkin config --extend /opt/ros/indigo --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

cd ~/catkin_ws/src

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro kinetic
cd ..
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

cd ~/catkin_ws/src

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/jade-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro jade
cd ..
catkin config --extend /opt/ros/jade --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

source ~/catkin_ws/devel/setup.bash