moveit_planning_scene_tutorial

​ IKFAST is a very powerful tool when a robot requires inverse kinematic solutions, so it’s necessary for us to config a customized robot ikfast plugin from scratch, which is a basic skill for a robotic engineer, I deem.

​ This article shows how to configure a custom arm in MoveIt.

在配置ROS-noetic MoveIt的时候，不可避免地遇到了一些问题。在此记录一下。