转载至：https://blog.csdn.net/qq_42145185/article/details/80975975 

-- Could not find the required component 'manipulation_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "manipulation_msgs"

  with any of the following names:

    manipulation_msgsConfig.cmake
    manipulation_msgs-config.cmake

这是由于少了manipulation_msgs这个包

我们在这里安装这个包就好了

在终端中输入 sudo apt-get install ros-kinetic-manipulation-msgs

完成安装后重新去编译一下你的moveit包就行了。