roslaunch moveit_setup_assistant setup_assistant.launch

`roslaunch moveit_setup_assistant setup_assistant.launch`命令用于启动MoveIt! Setup Assistant，它是一个可视化工具，帮助你设置MoveIt!配置文件。

在运行该命令之前，请确保你已经安装了MoveIt!软件包，并且已经设置好ROS环境变量。可以使用以下命令安装MoveIt!软件包：

sudo apt-get install ros-<distro>-moveit

其中`<distro>`是你正在使用的ROS发行版名称，如“melodic”、“noetic”等。

运行命令`source /opt/ros/<distro>/setup.bash`来设置ROS环境变量。

之后，使用`roslaunch moveit_setup_assistant setup_assistant.launch`命令启动Setup Assistant，并按照提示进行操作。该工具将会引导你完成创建MoveIt!配置文件的过程，以便使用MoveIt!控制机器人运动。

相关问题

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。

怎么打开moveit_setup_assistant

要打开moveit_setup_assistant，您可以按照以下步骤操作：

1. 首先，确保您已经成功安装了MoveIt软件包。如果尚未安装，请先安装MoveIt软件包。

2. 打开终端窗口。

3. 在终端中输入以下命令来启动moveit_setup_assistant：

   roslaunch moveit_setup_assistant setup_assistant.launch

4. 运行上述命令后，会出现一个图形界面，其中包含MoveIt设置助手的各个选项和功能。

请注意，上述命令假设您已经设置了ROS环境，并且已经在终端中成功启动了ROS核心（roscore）。

如果您在输入命令时遇到任何问题，请确保MoveIt软件包正确安装，并检查是否有其他错误消息出现。