Movelt源码安装编译成功，但运行官方launch文件报错

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利用源码安装的moveit测试官方教程motion_planning_api_tutorial算例：

  1. cd ~/ws_moveit

  2. sudo catkin build

  3. source ~/ws_moveit/devel/setup.bash

  4. roslaunch panda_moveit_config demo.launch

    模型启动成功，但存在报错如下：[ERROR] [1619399040.492839997]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds

  5. roslaunch moveit_tutorials motion_planning_api_tutorial.launch

    在点击RvizVisualtool可视化工具箱中的“Next”之前，没有报错提示，一切正常。但点击next开始规划后，程序终止，报错如下：

    1. [ERROR] [1619399096.097943751]: Found empty JointState message

    2. [ERROR] [1619399096.154928373]: RRTConnect: Motion planning start tree could not be initialized!

    3. [ERROR] [1619399096.327331502]: Could not compute plan successfully

      欢迎各路大神答疑解惑，谢谢！

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