mkdir -p ~/catkin_moto/src

cd ~/catkin_moto/src

catkin_init_workspace

git clone https://github.com/ros-industrial/motoman.git

cd ..

使用 rosdep 安装插件

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro melodic

catkin_make

source devel/setup.bash

新建moveit包

root@jet-virtual-machine:~/catkin_moto# roscore

cd ~/catkin_moto

source devel/setup.bash

roslaunch motoman_gp8_support robot_interface_streaming_gp8.launch robot_ip:=192.168.1.31 controller:=yrc1000

cd ~/catkin_moto

source devel/setup.bash

roslaunch motoman_gp8_moveit_config demo.launch robot_ip:=192.168.1.31 controller:=yrc1000