ROS机械臂开发Moveit Gazebo仿真遇到的问题

1。

Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist

参考：https://github.com/qboticslabs/mastering_ros/issues/7

$ sudo apt-get install ros-kinetic-joint-state-controller : This will install joint_state_controller package

$ sudo apt-get install ros-kinetic-effort-controllers : This will install Effort controller

$ sudo apt-get install ros-kinetic-position-controllers : This will install position controllers

2。

Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 出错

有两个问题，

第一步 参考https://answers.ros.org/question/254084/gazebo-could-not-load-controller-jointtrajectorycontroller-does-not-exist-mastering-ros-chapter-10/

sudo apt-get install ros-kinetic-joint-trajectory-controller

第二部 https://blog.csdn.net/Steve_Kung/article/details/89515873

3.

PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.

sudo apt-get install ros-kinetic-moveit-visual-tools