內容來自AI，APT安裝驗證成功

一、APT安裝

先確認你已經添加了 ROS2 的軟件源：

apt-cache policy | grep ros-humble

如果沒有輸出，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

進行安裝

sudo apt install ros-humble-moveit

二、源碼安裝

# 創建工作空間
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

# 安裝依賴
cd ~/ws_moveit2
rosdep install -r --from-paths src --ignore-src --rosdistro humble -y

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