E: Unable to locate package ros-humble-moveit

内容来自AI，APT安装验证成功

一、APT安装

先确认你已经添加了 ROS2 的软件源：

apt-cache policy | grep ros-humble

如果没有输出，需要重新配置源：

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update

进行安装

sudo apt install ros-humble-moveit

二、源码安装

# 创建工作空间
mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src

# 克隆 MoveIt2
git clone https://github.com/ros-planning/moveit2.git -b humble
vcs import < moveit2/moveit2.repos

# 安装依赖
cd ~/ws_moveit2
rosdep install -r --from-paths src --ignore-src --rosdistro humble -y

# 编译
colcon build --mixin release
source install/setup.bash