The mra_ros_control respository

Travis - Continuous Integration

Indigo	Kinetic

This repository is used to control real aubo's MRA(module robot arm) by ROS.

1. The mra_basic package is the driver to commuicate with the real MRA hardware and provides the some related topic of the ros control.
   
2. The mra_control package is the abstraction of real MRA hardware.
   
3. The mra_core_msgs package is the communication messages between mra_control and mra_basic.
   
4. The mra_joint_state_publisher package is used to simulate MRA_API to send joint state and mra state
   
5. The ros_control stack :See ros_control documentation on ros.org
   
6. The ros_controllers stack is the implement of related ros controllers.
   
7. The moveit_visual_tools package is the helper for displaying and debugging MoveIt! data in Rviz
   
8. The mra_joint_state_publisher package is used to control mra joints by subscribing the "/joint_state" topic published by starting demo.launch in the *_moveit_config.

Features

• The MRA has kinds of arm configurations composed of the module joins, such as dual arms, 7Dofs arm, 6Dofs arm, etc.
• You can only modify the configure file to suit different Dof arms, and don't need to modify the mra_basic source code.
• Support the trajectory msgs planning by move_group in MoveIt!.
• Support safe operations in real-time.
• Multiple kinds of control mode
  • basic position, velocity, effort.
  • controlling signle joint or arms by ros_control.

Prerequisites

• A kind of MRA description with moveit configure.(If you need to plan to control the mra.) For example mra7a.
• A real MRA and gripper(Optional).
• ROS Indigo on (suggested) Ubuntu 14.04, or ROS Kinetic on Ubuntu 16.04 (under development)
• MoveIt!: sudo apt-get install ros-<indigo>-moveit

Using instruction

• Create a catkin workspace if you don't already have one (we recommend a separate one for MRA)

    mkdir -p ~/ros_ws/mra_ros_ws/src  	
    cd ~/ros_ws/mra_ros_ws/src  
    catkin_init_workspace 
  

• Clone this respository to your catkin workspace

    cd ~/ros_ws/mra_ros_ws/src  
    git clone https://github.com/auboROS/mra_ros_control.git
  

• Compiling

    cd ~/ros_ws/mra_ros_ws
    rosdep install --from-paths src --ignore-src --rosdistro indigo -y
    catkin_make
  

• Running

  Firstly, startup the your MRA hardware.

  The three control way as below:

  • Control single joint by ros_control.

      roslaunch mra_control mra7a_hw_position_bingup.launch
      rostopic pub /mra/joint7_command std_msg/Float64 1.5 //control the seventh joint move 1.5 radio.
    

  • Control the whole arm by planning.

      roslaunch mra_control mra7a_hw_trajectory_bingup.launch
      roslaunch mra7a_gazebo mra7a_bringup_rviz.launch
    

  • Contorl single joint by QT control panel.(You need install QT)
    In the mra_basic/src/control_panel/CMakeLists.txt

      set(CMAKE_PREFIX_PATH "/home/lmn/Qt5.3.2/5.3/gcc/lib/cmake") //Set your QT path.
    

    In the mra_basic/CMakeLists.txt, cancel the comment below.

      //add_subdirectory(src/control_panel)
    

    Running in three terminal

      first terminal: roscore
      second terminal: rosrun mra_basic joint_control
      third terminal: rosrun mra_basic control_panel