moveit_config = MoveItConfigsBuilder("six_arm", package_name="robot_xmate_cr12_moveit").to_moveit_configs()

MoveIt!配置的构建可以通过`MoveItConfigsBuilder`类实现。在这个示例中，如果你想为名为"six_arm"的机器人创建一个配置，首先要指定包名（`package_name`），并提供相应的URDF文件路径[^1]：

# 假设six_arm.urdf.xacro位于robot_xmate_cr12_moveit包下的config目录下
from robot_xmate_cr12_moveit.moveit_configs_builder import MoveItConfigsBuilder

moveit_config = MoveItConfigsBuilder("six_arm", 
                                     package_name="robot_xmate_cr12_moveit",
                                     robot_description=file_path="config/six_arm.urdf.xacro").to_moveit_configs()

这里的`file_path`参数应该替换为你实际的六臂机器人的URDF文件路径。与panda.urdf.xacro的情况相同，如果文件不在默认位置，可能需要调整到正确的子目录。

相关问题

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "moveit_core" with any of the following names: moveit_coreConfig.cmake moveit_core-config.cmake

这个错误通常是由于缺少`moveit_core`软件包或没有正确安装导致的。您可以尝试以下解决方法：

1. 确保已正确安装`moveit_core`软件包。您可以使用以下命令进行安装：

   sudo apt-get install ros-melodic-moveit-core

2. 如果已经安装了`moveit_core`软件包，但是仍然出现此错误，请检查您的CMakeLists.txt文件是否正确设置了ROS软件包依赖项。您可以在CMakeLists.txt文件中添加以下行：

   find_package(moveit_core REQUIRED)

3. 如果您已经正确设置了依赖项，但是仍然遇到问题，请确保您的ROS环境变量已正确设置。您可以尝试通过运行以下命令来设置环境变量：

   source /opt/ros/melodic/setup.bash

4. 如果上述解决方法仍然无效，可能是由于软件包未正确安装或配置的其他问题引起的。您可以尝试重新安装`moveit_core`软件包，或者查阅相关的ROS文档、论坛或社区以获取更多帮助。

希望这些解决方法能够帮助您解决问题！如果您有任何其他问题，请随时提问。

roslaunch moveit_setup_assistant setup_assistant.launch ... logging to /home/zjh/.ros/log/513e5cbe-09c0-11ee-a43a-e7f821379d26/roslaunch-zjh-6655.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://zjh:40045/ SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.16.0 NODES / moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant) auto-starting new master process[master]: started with pid [6681] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 513e5cbe-09c0-11ee-a43a-e7f821379d26 process[rosout-1]: started with pid [6691] started core service [/rosout] process[moveit_setup_assistant-2]: started with pid [6694] /opt/ros/noetic/lib/moveit_setup_assistant/moveit_setup_assistant: error while loading shared libraries: libfcl.so.0.6: cannot open shared object file: No such file or directory ================================================================================REQUIRED process [moveit_setup_assistant-2] has died! process has died [pid 6694, exit code 127, cmd /opt/ros/noetic/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/zjh/.ros/log/513e5cbe-09c0-11ee-a43a-e7f821379d26/moveit_setup_assistant-2.log]. log file: /home/zjh/.ros/log/513e5cbe-09c0-11ee-a43a-e7f821379d26/moveit_setup_assistant-2*.log Initiating shutdown! ================================================================================ [moveit_setup_assistant-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

这段代码看起来像是一段 ROS 的启动代码，其中包括了 moveit_setup_assistant 节点的启动过程，但是出现了一个错误：“libfcl.so.0.6: cannot open shared object file: No such file or directory”。这个错误可能是因为缺少了 libfcl 库导致的，需要检查是否已经安装了 libfcl 库，如果没有安装则需要安装。