rostopic type /move_group/fake_controller_joint_states
->sensor_msgs/JointState
rosmsg show sensor_msgs/JointState
->
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string[] name
float64[] position
float64[] velocity
float64[] effort
rostopic type /joint_states
->sensor_msgs/JointState
demo.launch
-> planning_context.launch: load the URDF, SRDF, and other .yaml configuration filters on the param server
-> probot_description/urdf/probot_anno.xacro: 加载URDF
-> probot_anno_moveit_config/config/probot_anno.srdf: 加载URDF语义描述，即配置时设置的chains, pose,碰撞检测等
-> probot_anno_moveit_config/config/joint_limits.yaml: 各关节的速度、加速度限制
-> probot_anno_moveit_config/config/kinematics.yaml:加载运动学的默认配置，可以在namespace中覆盖
-> 启动node "joint_state_publisher"
-> move_group.launch: 运行moveit
-> planning_context.launch
-> planning_pipline.launch.xml: Planning functionality，此处使用OMPL
-> trajectory_execution.launch.xml: Trajectory execution functionality
-> sensor_manager.launch.xml: Sensors functionality
-> 启动node "move_group"
-> moveit_rviz.launch: Rviz
