步骤先在一个终端打开roscore然后sudo apt install ros-noetic-franka-description安装机械臂官方包将/opt/ros/noetic/share/franka_description拷贝到~/catkin_ws的src并使用catkin_make编译然后就能使用moveit了打开助手rosrun moveit_setup_assistant moveit_setup_assistant启动demo:roslaunch probot_anno_moveit_config demo.launch