DLS、SVDTRAC-IKsudo apt-get install ros-noetic-trac-ik-kinematics-plugin修改以下文件进行使用kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPluginIKFastkinematics_solver: probot_anno_manipulator_kinematics/IKFastKinematicsPlugin