参考官方教程：
http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html
MoveIt IKFast是一个工具，它使用OpenRAVE生成的cpp文件为MoveIt生成IKFast运动学插件。目前IKFast插件生成器工具不能使用>7个自由度的手臂。
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Ubuntu18.04 + melodic 配置Ikfastsudo apt update
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sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy qt4-dev-tools
sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev
ERROR 1：
正在读取软件包列表… 完成
正在分析软件包的依赖关系树
正在读取状态信息… 完成
E: 无法定位软件包 libjasper-dev
error 1 的 解决办法：
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev
继续安装：
sudo apt-get install libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev
git clone https://github.com/openscenegraph/OpenSceneGraph.git --branch OpenSceneGraph-3.4
cd OpenSceneGraph
mkdir build; cd build
cmake .. -DDESIRED_QT_VERSION=4
make -j$(nproc)
sudo make install
pip install --upgrade --user sympy==0.7.1
Command ‘pip’ not found, but can be installed with:
sudo apt install python-pip
sudo apt install python-pip
pip install --upgrade --user sympy==0.7.1
sudo apt remove python-mpmath
只要卸载了就行，我是没有安装
正在读取软件包列表… 完成
正在分析软件包的依赖关系树
正在读取状态信息… 完成
软件包 python-mpmath 未安装，所以不会被卸载
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开始安装IKFast**
cd
sudo apt-get install ros-melodic-moveit-kinematics
git clone https://github.com/ros-planning/moveit.git
