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‎README.md

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# The mra_ros_control respository
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**This repository is used to control real aubo's MRA(module robot amr) by ROS.**<br>
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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.<br>
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2. The **mra_control** package is the abstraction of real MRA hardware.<br>
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3. The **mra_core_msgs** package is the communication messages between mra_control and mra_basic.<br>
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4. The **mra_joint_state_publisher** package is used to simulate MRA_API to send joint state and mra state<br>
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5. The **ros_control** stack :See [ros_control documentation](http://ros.org/wiki/ros_control) on ros.org<br>
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6. The **ros_controllers** stack is the implement of related ros controllers.<br>
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7. The **moveit_visual_tools** package the helper for displaying and debugging MoveIt! data in Rviz<br>

‎moveit_visual_tools

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Subproject commit e1c17c76e681273017b7c966d5e39571124c2abf

‎mra_basic/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(mra_basic)
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#### Now,FindMRA_API.cmake can automatically judge system digets by camke parameter "CMAKE_SIZEOF_VOID_P" ###
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#Set System Digits, default 32
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#You can lookup the parameter by runing "getconf LONG_BIT" in the terminal
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#set(LONG_BIT "32")
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#support C++11
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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mra_core_msgs
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#message_generation
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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#add_message_files(
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# FILES
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# Joint.msg
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#)
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#generate_messages()
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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#generate_messages(
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# DEPENDENCIES
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# std_msgs
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#)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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# LIBRARIES
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CATKIN_DEPENDS roscpp rospy std_msgs mra_core_msgs #message_runtime
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(include ${catkin_INCLUDE_DIRS} )
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## Declare a cpp library
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# add_library(our_ros
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# src/${PROJECT_NAME}/our_ros.cpp
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# )
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## Declare a cpp executable
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# add_executable(our_ros_node src/our_ros_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(our_ros_node our_ros_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(our_ros_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS our_ros our_ros_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_our_ros.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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message(STATUS " CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}")
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add_subdirectory(src/control_panel)
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add_subdirectory(src/joint_control)
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‎mra_basic/README.md

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# mra_basic package
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**This package is used to control real aubo's MRA(Module Robot Arm) by ROS**
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There are two executable fiels: joint control and control_panel.
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When you are using mra_ros_control package to control MRA7A, you need the first step: rosrun mra_basic joint_control.
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***
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**Note:**
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1. In the include/mra_basic/config.h file, you can change some config.<br>
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such as:jointID, joint_names, topic_names, etc.<br>
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2. In the top CMakeList.txt file, you need to change the system parameter "LONG_BIT" according to your system. You can lookup the parameter by runing "getconf LONG_BIT" in the terminal<br>
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*set(LONG_BIT "32")* <br>
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***
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Here, We provides a simple test to control MRA7A's joint independently using a QT panel.<br>
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**Steps:**<br>
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1.roscore<br>
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2.rosrun mra_basic joint_control<br>
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3.rosrun mra_basic control_panel<br>
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***
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**Design ideas:**<br>
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joint_control: <br>
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It's node graph as follow: <br>
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<img src="./image/joint_control.png" width=400 height=100 /> <br>
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It subscribes the "/mra/joint_command" topic to contorl the MRA's joint position, velocity, or effort, and the "/mra/reset_MRA_API" topic to reinit MRA_API if the canbus interrupts. Besides, It publishes the joint_states and mra_state msgs at 100 hz frequency.
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‎mra_basic/cmake/FindMRA_API.cmake

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# - Try to find libMRA_API
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# Once done this will define
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#
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# libMRA_API_FOUND - system has libMRA_API
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# libMRA_API_INCLUDE_DIRS - the libMRA_API include directories
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# libMRA_API_LIBS - link these to use libMRA_API
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find_path(libMRA_API_INCLUDE_DIR
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NAMES mra_api.h
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PATHS /usr/include/MRA_API
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/usr/local/include/MRA_API
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${PROJECT_SOURCE_DIR}/include/MRA_API
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$ENV{INCLUDE}
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)
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set(libMRA_API_INCLUDE_DIRS ${libMRA_API_INCLUDE_DIR})
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message(STATUS ${libMRA_API_INCLUDE_DIR})
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message(STATUS ${CMAKE_SYSTEM_PROCESSOR} "---" ${CMAKE_SIZEOF_VOID_P})
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#Methord 1 : Automatically judge system digets by camke parameter "CMAKE_SIZEOF_VOID_P"
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if(CMAKE_SIZEOF_VOID_P EQUAL 8)
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message(STATUS "System LONG_BIT is 64")
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find_library(libMRA_API_LIB
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NAMES CANAPI
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PATHS ${PROJECT_SOURCE_DIR}/lib/MRA_API64
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)
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else()
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message(STATUS "System LONG_BIT is 32")
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find_library(libMRA_API_LIB
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NAMES CANAPI
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PATHS ${PROJECT_SOURCE_DIR}/lib/MRA_API32
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)
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endif()
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#Methord 2: user set the LONG_BIT parameter by hand in top CMakelist.txt
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#if(${LONG_BIT} STREQUAL "32")
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# message(STATUS "System LONG_BIT is setted to 32")
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# find_library(libMRA_API_LIB
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# NAMES CANAPI
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# PATHS ${PROJECT_SOURCE_DIR}/lib/MRA_API32
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# )
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#else()
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# message(STATUS "System LONG_BIT is setted to 64")
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# find_library(libMRA_API_LIB
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# NAMES CANAPI
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# PATHS ${PROJECT_SOURCE_DIR}/lib/MRA_API64
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# )
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#endif()
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set(libMRA_API_LIBS ${libMRA_API_LIB})
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if(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Found MRA_API include dir: ${libMRA_API_INCLUDE_DIRS}")
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else(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Could NOT find MRA_API headers.")
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endif(libMRA_API_INCLUDE_DIRS)
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if(libMRA_API_LIBS)
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message(STATUS "Found MRA_API library: ${libMRA_API_LIBS}")
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else(libMRA_API_LIBS)
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message(STATUS "Could NOT find libMRA_API library.")
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endif(libMRA_API_LIBS)
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if(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND TRUE)
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else(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND FALSE)
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message(FATAL_ERROR "Could not find MRA_API.")
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endif(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)

‎mra_basic/cmake/FindMRA_API.cmake~

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# - Try to find libMRA_API
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# Once done this will define
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#
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# libMRA_API_FOUND - system has libMRA_API
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# libMRA_API_INCLUDE_DIRS - the libMRA_API include directories
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# libMRA_API_LIBS - link these to use libMRA_API
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find_path(libMRA_API_INCLUDE_DIR
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NAMES driver.h
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PATHS /usr/include/MRA_API
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/usr/local/include/MRA_API
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${PROJECT_SOURCE_DIR}/include/MRA_API
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$ENV{INCLUDE}
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)
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set(libMRA_API_INCLUDE_DIRS ${libMRA_API_INCLUDE_DIR})
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find_library(libMRA_API_LIB
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NAMES CANAPI
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PATHS /usr/lib/MRA_API
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/usr/local/lib/MRA_API
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${PROJECT_SOURCE_DIR}/lib/MRA_API
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)
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set(libMRA_API_LIBS ${libMRA_API_LIB})
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if(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Found MRA_API include dir: ${libMRA_API_INCLUDE_DIRS}")
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else(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Could NOT find MRA_API headers.")
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endif(libMRA_API_INCLUDE_DIRS)
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if(libMRA_API_LIBS)
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message(STATUS "Found MRA_API library: ${libMRA_API_LIBS}")
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else(libMRA_API_LIBS)
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message(STATUS "Could NOT find libMRA_API library.")
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endif(libMRA_API_LIBS)
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if(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND TRUE)
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else(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND FALSE)
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message(FATAL_ERROR "Could not find MRA_API.")
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endif(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)

‎mra_basic/cmake/FindOUR_API.cmake~

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# - Try to find libMRA_API
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# Once done this will define
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#
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# libMRA_API_FOUND - system has libMRA_API
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# libMRA_API_INCLUDE_DIRS - the libMRA_API include directories
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# libMRA_API_LIBS - link these to use libMRA_API
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find_path(libMRA_API_INCLUDE_DIR
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NAMES driver.h
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PATHS /usr/include/MRA_API
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/usr/local/include/MRA_API
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${PROJECT_SOURCE_DIR}/include/MRA_API
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$ENV{INCLUDE}
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)
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set(libMRA_API_INCLUDE_DIRS ${libMRA_API_INCLUDE_DIR})
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find_library(libMRA_API_LIB
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NAMES CANAPI
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PATHS /usr/lib/MRA_API
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/usr/local/lib/MRA_API
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${PROJECT_SOURCE_DIR}/lib/MRA_API
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)
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set(libMRA_API_LIBS ${libMRA_API_LIB})
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if(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Found MRA_API include dir: ${libMRA_API_INCLUDE_DIRS}")
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else(libMRA_API_INCLUDE_DIRS)
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message(STATUS "Could NOT find MRA_API headers.")
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endif(libMRA_API_INCLUDE_DIRS)
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if(libMRA_API_LIBS)
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message(STATUS "Found MRA_API library: ${libMRA_API_LIBS}")
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else(libMRA_API_LIBS)
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message(STATUS "Could NOT find libMRA_API library.")
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endif(libMRA_API_LIBS)
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if(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND TRUE)
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else(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)
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set(libMRA_API_FOUND FALSE)
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message(FATAL_ERROR "Could not find MRA_API.")
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endif(libMRA_API_INCLUDE_DIRS AND libMRA_API_LIBS)

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