From 9bed73634f3b8e84f21ccc1fef1060e9a40a3141 Mon Sep 17 00:00:00 2001 From: Yue Date: Wed, 12 Jun 2019 12:22:55 +0200 Subject: [PATCH 1/2] Update crystal readme --- README.md | 37 ++++++++++++++++++++++--------------- 1 file changed, 22 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index d2e266a..e20b468 100644 --- a/README.md +++ b/README.md @@ -118,17 +118,10 @@ In this section we will install all the necessary dependencies in order to be ab ```sh # ROS 2 extra packages sudo apt update && sudo apt install -y \ -ros-crystal-action-msgs \ -ros-crystal-message-filters \ -ros-crystal-yaml-cpp-vendor \ -ros-crystal-urdf \ ros-crystal-rttest \ -ros-crystal-tf2 \ -ros-crystal-tf2-geometry-msgs \ ros-crystal-rclcpp-action \ -ros-crystal-cv-bridge \ ros-crystal-control-msgs \ -ros-crystal-image-transport \ +ros-crystal-yaml-cpp-vendor \ ros-crystal-gazebo-dev \ ros-crystal-gazebo-msgs \ ros-crystal-gazebo-plugins \ @@ -176,14 +169,25 @@ Continue the following steps to complete the MoveIt! installation. #### ROS and MoveIt! ROS and MoveIt! are required if you want to use `ìndividual_trajectories_bridge` to control the MARA, which means using ROS Melodic with MoveIt through bridges. -- **ROS melodic**: following the official instructions, [source](http://wiki.ros.org/melodic/Installation/Source) or [debian_packages](http://wiki.ros.org/melodic/Installation/Ubuntu). -- **MoveIt!**: Install the following ROS debian packages. +- **ROS melodic**: following the official instructions, [source](http://wiki.ros.org/melodic/Installation/Source) or [debian_packages](http://wiki.ros.org/melodic/Installation/Ubuntu). + + Dependent tools: + ```sh + # ROS extra packages + sudo apt update && sudo apt install -y \ + ros-melodic-xacro \ + ros-melodic-rviz \ + ros-melodic-control-msgs \ + ros-melodic-robot-state-publisher \ ``` +- **MoveIt!**: Install the following ROS debian packages. + ```sh sudo apt install -y \ - ros-melodic-moveit \ ros-melodic-moveit-ros-move-group \ - ros-melodic-moveit-visual-tools - ros-melodic-moveit-simple-controller-manager + ros-melodic-moveit-planners-ompl \ + ros-melodic-moveit-simple-controller-manager \ + ros-melodic-moveit-visual-tools \ + ros-melodic-moveit-ros-visualization ``` #### ROS - ROS 2.0 Bridge Compile the trajectory bridge located in the workspace using ROS as source. @@ -195,11 +199,11 @@ cd ~/ros2_mara_ws && colcon build --merge-install --packages-select individual_t sed -i 's#/opt/ros/melodic#/opt/ros/crystal#g' ~/ros2_mara_ws/install/setup.bash ``` #### ROS Workspace -Compile the MARA_ROS1 packages. +Compile the MARA_ROS1 packages (make sure you just source melodic). ```sh mkdir -p ~/catkin_mara_ws/src cd ~/catkin_mara_ws/src -git clone https://github.com/AcutronicRobotics/MARA_ROS1 +git clone https://github.com/AcutronicRobotics/MARA_ROS1 -b crystal cd ~/catkin_mara_ws/ catkin_make_isolated --install ``` @@ -261,6 +265,9 @@ If you have used a different urdf in the Terminal 1, you will need to use `urdf: roslaunch mara_bringup mara_bringup_moveit_actions.launch urdf:=mara_robot_gripper_140 ``` +*In case you have launched two robots, you will need to add `multiple_robots:=true`* + + #### Terminal 3 (bridge) Source catkin_mara_ws and ros2_mara_ws: ```sh From 8cc97798a016a7017318c4a7f2c56ace81101af4 Mon Sep 17 00:00:00 2001 From: Yue Date: Wed, 12 Jun 2019 12:28:36 +0200 Subject: [PATCH 2/2] Fix readme paths --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index e20b468..534a55d 100644 --- a/README.md +++ b/README.md @@ -287,7 +287,7 @@ ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions - ### MoveIt! with MARA - Real Robot Plan trajectories in a real environment with MoveIt!. -:warning: You will need to change the names of the real motors in [MARA/hros_cognition_mara_components](https://github.com/AcutronicRobotics/MARA/blob/crystal/hros_cognition_mara_components/config/motors.yaml#L16-L21) and in [MARA_ROS1/mara_bringup](https://github.com/AcutronicRobotics/MARA_ROS1/blob/crystal/mara_bringup/config/motors.yaml#L10-L15) files to match the MACs of your SoMs. +:warning: You will need to change the names of the real motors in [MARA/hros_cognition_mara_components](https://github.com/AcutronicRobotics/MARA/blob/crystal/hros_cognition_mara_components/config/motors.yaml#L10-L15) and in [MARA_ROS1/mara_bringup](https://github.com/AcutronicRobotics/MARA_ROS1/blob/crystal/mara_bringup/config/motors.yaml#L10-L15) files to match the MACs of your SoMs. :warning: Any change in the yaml files you will have to recompile the ros2 and ros packages (make sure you source only the corresponding ros/ros2): ```sh @@ -358,7 +358,7 @@ ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions - ## Examples - [Documentation and tutorials](https://acutronicrobotics.com/docs/products/robots/mara) - - [mara_examples](https://github.com/AcutronicRobotics/mara_examples.git) + - [mara_examples](https://github.com/AcutronicRobotics/mara_examples/tree/crystal)