The mra7a_tutorials respository

This repository shows some demos for controlling the mra7a by ROS.

1. The moveit_visual_tools package is the helper for displaying and debugging MoveIt! data in Rviz
   

2. The brain_control stack is a demo for controling the motion of the mra7a by rrain–computer interface.
   

3. The mra7a_random_motion package is a demo controlling the MRA7a random motion.
   running command: roslaunch mra7a_random_motion mra7a_random_motion.launch
   

4. The mra7a_eff_pose_plan package is a simple program controlling the MRA7a's end effector to move to a specific point.
   running command:
   1.roslaunch mra7a_eff_pose_plan mra7a_eff_pose_plan.launch
   In the package, there is a folder named publish_pose_gui, which provides a GUI to publish end effector pose. You can go into the publish_pose_gui folder and run python main.py.
   

5. The mra7a_grasp_bottle_demo package get object pose from kinectv1_object_recognition , and plan the mra7a to grasp the object.
   kinect-computer:
   (1). roslaunch ork ork_demo.launch //Recognition the object and publish TF.
   (2). roslaunch ork view_ork.launch //Rviz visualizaition.
   arm-computer:
   (1). roslaunch mra_control mra7a_trajectory_rviz.launch //Server for controlling the mra7a.
   (2). rosrun mra7a_grasp_bottle_demo grasp_bottle_demo_node //Get the bottle pose from TF tree and plan the mra7a to execute grasp motion.