运行过程
启动gazebo和rviz
终端1：
bash
cd piper_ros
source devel/setup.bash
roslaunch piper_gazebo piper_gazebo.launch终端2：
bash
cd piper_ros
source devel/setup.bash
roslaunch piper_with_gripper_moveit demo.launch终端3：
bash
# 1. 编译包
cd ~/piper_ros
catkin_make
# 2. 设置环境变量
source devel/setup.bash
# 3. 直接运行程序