iiwa_ros gazebo仿真时使用如下命令： 1: roslaunch iiwa_moveit moveit_planning_execution.launch 2: roslaunch iiwa_description iiwa7_sin.launch Rviz+MoveIt时使用如下命令： 1: roslaunch iiwa_moveit demo.launch 2: rosrun iiwa_description markerpub_sin.py # 显示轨迹 3: rosrun iiwa_description moveit_sin.py # 画图