问题： 1、 moveit.1.1.2版的moveit如果直接运行，设置助手生成的功能包 launch XXXXX(包名) demo.launch 时会报错：
Resource not found: moveit_resources_prbt_moveit_config ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/ros-noetic/moveit_test/src ROS path [2]=/opt/ros/noetic/share The traceback for the exception was written to the log file 提示：找不到moveit_resources_prbt_moveit_config 2、 解决后再次运行 launch XXXXX(包名) demo.launch 还会有红色警告:
[ERROR] [1620889941.382904614]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner [ERROR] [1620889941.384187265]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'. 提示：未能初始化管道pilz_industrial_motion_planner’ 解决： 1、 通过使用如下命令安装该包可解决问题 sudo apt install ros-noetic-moveit-resources-prbt-moveit-config 2、 使用以下命令安装包可以解决问题 sudo apt install ros-noetic-pilz-industrial-motion-planner