运行 moveit_planning_execution.launch 报错_could not find the planner configuration 'none' on

运行 roslaunch …_moveit_config moveit_planning_execution.launch 报错

1、[ERROR] Action client not connected: manipulator_controller/follow_joint_trajectory

解决：找到 ros_controllers.yaml 文件，如图1位置，将其数据更改为图2
图1
图2

2、[ERROR] Could not find the planner configuration ‘None’ on the param server

解决：ompl_planning.yaml 文件，找到 default_planner_config: None，删除即可

3、[…launch] is neither a launch file in package […] nor is […] a launch file name
The traceback for the exception was written to the log file

解决：要是执行后还不行，就删掉catkin_ws中的 devel和 build 文件，再次执行以下操作

cd ~/catkin_ws 
catkin_make
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