On one terminal, start a minas_control as:
roslaunch tra1_bringup tra1_bringup.launch
If you have no real robot, specify the argument 'simulation' to use loopback mode:
roslaunch tra1_bringup tra1_bringup.launch simulation:=true
On Another terminal, start a moveit script as:
roslaunch tra1_bringup tra1_moveit.launch
Now you can see the rviz screen of MoveIt! and interact the robot with the GUI.