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unexpectedly I launched normally the moveit! setup assistant with the help of gvdhoorn. The total process was as follows:

According to the answer in the http://answers.ros.org/question/193137/problems-with-moveit-exit-code-11/ I guess I had also a problem with my graphic driver.

1. I followed the http://askubuntu.com/questions/475972/error-couldnt-find-rgb-glx-visual-or-fbconfig-ubuntu-12-04 to install the xserver-xorg.

sudo apt-get install xserver-xorg

sudo dpkg-reconfigure xserver-xorg

sudo reboot

but after rebooting I met the same error .And the touchpad also became invalid . then I tried to check the system Settings, but the settings crashed(could not be opened).

2. I installed the ubuntu-desktop

sudo apt-get install ubuntu-desktop

In this way the system Settings could be opened ,then I tried to launch the movit! and succeeded unexpectedly . So I think the "Exit Code -11" is probably related to both the xserver-xorg and the ubuntu-desktop.