ここを参考に
ros-planning.github.io
sudo apt install ros-noetic-rosparam-shortcuts # これが必要だった rosdep update sudo apt update sudo apt dist-upgrade sudo apt install ros-noetic-catkin python3-catkin-tools sudo apt install python3-wstool mkdir -p ~/ws_moveit/src cd ~/ws_moveit/src wstool init . wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall wstool update -t . cd ~/ws_moveit/src git clone https://github.com/ros-planning/moveit_tutorials.git -b master git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel #melodicまでしかない(noetic非対応)のでこれを使う cd ~/ws_moveit/src rosdep install -y --from-paths . --ignore-src --rosdistro noetic cd ~/ws_moveit catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build source ~/ws_moveit/devel/setup.bash
テスト
roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
起動した
