MARA

MARA ROS Files-

Steps to install---

1. catkin_make

2. add setup.bash location to your ~/.bashrc

   Go to the end of that file(sudo vim ~/.bashrc) and add

    # source <path to your directory>/devel/setup.bash
   

3. Instal dependencies. To find out the dependencies, run:

    # rosrun mara joint_trajectory_server.py r 0
   

   Then, install dependencies with

    # sudo apt-get install python-DEPENDENCYNAME
   

   for example:

    #sudo apt-get install python-sklearn
   

4. Run roscore

    # roscore
   

1: run the trajectory servers for each arm:

	# rosrun mara joint_trajectory_server.py r 0
	# rosrun mara joint_trajectory_server.py l 1

2: launch moveit:

	# roslaunch mara_moveit_config demo_mara.launch

3: run the controller

	# rosrun mara mara_controller.py