[ERROR] [1583298467.643559437]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded
 plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager doe
s not exist. Declared types are
Available plugins:
[ INFO] [1583298467.650662516]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1583298467.651766835]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1583298467.652933671]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1583298467.654018362]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1583298467.654864402]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1583298467.655586712]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1583298467.655681467]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1583298467.655713906]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1583298467.655734434]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1583298467.655755028]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1583298467.655777997]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1583298467.662922425]: Exception while loading controller manager 'moveit_fake_controller_manager/MoveItFake
ControllerManager': According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeCo
ntrollerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared type
s are  moveit_simple_controller_manager/MoveItSimpleControllerManager

安装moveit的时候丢包了（蠢哭了）

# kinetic
sudo apt-get install ros-kinetic-moveit
# indigo
sudo apt-get install ros-indigo-moveit