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Structure update in the README #54

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Structure update in the README #54

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Major updates related to MoveIt mainly
nzlz Apr 24, 2019
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Meet team leader's bracketing preferences
nzlz Apr 24, 2019
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Update Readme, move moveit section
nzlz Apr 24, 2019
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nzlz Apr 24, 2019
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91 changes: 50 additions & 41 deletions README.md
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Expand Up @@ -25,27 +25,26 @@ Among other things, you will find in this repository instructions on how to simu
- **Controllable from any ROS 2.0 enabled computer**: [ORC](https://acutronicrobotics.com/products/orc/) is the ideal complement for MARA, but not mandatory. Choose yourself how you steer MARA.

## Table of Contents
* [MARA](#mara)
* [Features](#features)
* [Table of Contents](#table-of-contents)
* [Specifications](#specifications)
* [Packages](#packages)
* [Dependendent tools](#dependent-tools)
* [Create a ROS workspace](#create-a-ros-workspace)
* [Compile the ROS workspace](#compile-the-ros-workspace)
* [Set up MoveIt! in ROS 1 (optional)](#set-up-optional-moveit-in-ros-1)
* [MoveIt! with MARA in Gazebo](#usage-in-gazebo-simulator)
* [Terminal 1 (ROS 2.0):](#terminal-1-ros-2)
* [Terminal 2 (ROS):](#terminal-2-ros)
* [Terminal 3 (bridge):](#terminal-3-bridge)
* [Real robot](#usage-on-the-real-robot)
* [Terminal 1 (ROS 2):](#terminal-1-ros-2)
* [Terminal 2 (ROS):](#terminal-2-ros)
* [Terminal 3 (bridge):](#terminal-3-bridge)
* [Example code](#example-code)
* [Help](#help)

### Specifications
* [Specifications](#specifications)
* [Packages](#packages)
* [Install](#install)
* [Dependendent tools](#dependent-tools)
* [Create a ROS 2.0 workspace](#create-a-ros-20-workspace)
* [Compile the ROS 2.0 workspace](#compile-the-ros-20-workspace)
* [MoveIt! in ROS1 (Optional)](#moveit-in-ros1-optional)
* [MoveIt!](#moveit)
* [MoveIt! with MARA - Simulation](#moveit-with-mara---simulation)
* [Terminal 1 (ROS 2.0):](#terminal-1-ros-20)
* [Terminal 2 (ROS):](#terminal-2-ros)
* [Terminal 3 (bridge):](#terminal-3-bridge)
* [MoveIt! with MARA - Real](#moveit-with-mara---real-robot)
* [Terminal 1 (ROS 2.0):](#terminal-1-ros-20)
* [Terminal 2 (ROS):](#terminal-2-ros)
* [Terminal 3 (bridge):](#terminal-3-bridge)
* [Examples](#examples)
* [Help](#help)

## Specifications

![](https://acutronicrobotics.com/products/mara/images/xMARA_evolution_end.jpg.pagespeed.ic.dVNwzZ6-4i.webp)

Expand All @@ -68,7 +67,7 @@ Among other things, you will find in this repository instructions on how to simu
| Automatic updates | Over-the-Air (OTA) |
| Datasheet | [Download datasheet](https://acutronicrobotics.com/products/mara/files/MARA_datasheet_v1.1.pdf) |

### Packages
## Packages

<a href="http://www.acutronicrobotics.com"><img src="https://acutronicrobotics.com/products/mara/images/v2_MARA6_1-11.png" align="right" hspace="8" vspace="2" width="200"></a>

Expand All @@ -81,15 +80,12 @@ Among other things, you will find in this repository instructions on how to simu
- `mara_gazebo_plugins`: MARA Gazebo plugins for sensors and motors.
- `mara_utils_scripts`: Some scripts to move the MARA or spawn the model.

### Gazebo, ROS 2.0, ROS and MoveIt!
## Install

### ROS 2.0 and Gazebo
- **Gazebo 9**: following the official instructions, [one-liner or step-by-step](http://gazebosim.org/tutorials?tut=install_ubuntu)
- **ROS 2.0 Crystal**: following the official instructions, [source](https://index.ros.org/doc/ros2/Linux-Development-Setup/) or [debian packages](https://index.ros.org/doc/ros2/Linux-Install-Debians/).

ROS and MoveIt! are optional, required if you want to use `ìndividual_trajectories_bridge` to controll 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!**: `sudo apt install ros-melodic-moveit`.

### Dependent tools

```sh
Expand Down Expand Up @@ -123,30 +119,43 @@ Please make sure you are not sourcing ROS1 workspaces via `.bashrc` or any othe
source /opt/ros/crystal/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge
```
**Installation completed!** Now make sure you check the **[Examples](#examples)** section! Or follow the MoveIt! installation.

### MoveIt! in ROS1 (Optional)
While MoveIt2! is not released (we are activelly developing), we provide the option to use ROS 1.0 MoveIt! through bridges.

### Set up MoveIt! in ROS 1 (optional)
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!**: `sudo apt install ros-melodic-moveit`.

Optional `individual_trajectories_bridge`:
#### ROS - ROS 2.0 Bridge
Compile the trajectory bridge located in the workspace using ROS 1.0 as source.

```sh
source /opt/ros/melodic/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-select individual_trajectories_bridge
# Building ROS 1 creates conflicts with this ROS 2.0 workspace. Next line ensures the workspace is completely ROS 2.0.
sed -i 's#/opt/ros/melodic#/opt/ros/crystal#g' ~/ros2_mara_ws/install/setup.bash
```

#### ROS Workspace
Compile the MARA_ROS1 packages.
```sh
mkdir -p ~/ros_mara_ws/src
cd ~/catkin_mara_ws/src
git clone https://github.com/AcutronicRobotics/MARA_ROS1
cd ~/catkin_mara_ws/
catkin_make_isolated --install
```
## MoveIt!
Motion planning, manipulation, 3D perception, kinematics, control and navigation through brigdes.

### Usage in Gazebo Simulator
### MoveIt! with MARA - Simulation
Plan trajectories in a virtual environment with Gazebo and MoveIt!.

#### Terminal 1 (ROS 2.0):
#### Terminal 1 (ROS 2.0)

To spawn the simulated robot in Gazebo, you can choose one of the following ros2 launch files depending on the gripper that you want to use:

Expand All @@ -155,15 +164,15 @@ source ~/ros2_mara_ws/install/setup.bash
ros2 launch mara_gazebo mara.launch.py
```

**Optionally**, you can launch one of these launch files, which correspond to different types of grippers.
**Optionally**, you can launch one of these launch files, which correspond to different grippers.

```sh
ros2 launch mara_gazebo mara_gripper_140.launch.py
ros2 launch mara_gazebo mara_gripper_85.launch.py
ros2 launch mara_gazebo mara_gripper_hande.launch.py
```

#### Terminal 2 (ROS):
#### Terminal 2 (ROS)
```sh
source ~/catkin_mara_ws/devel/setup.bash

Expand All @@ -173,15 +182,16 @@ roslaunch mara_bringup mara_bringup_moveit_actions.launch prefix:=140 &

```

#### Terminal 3 (bridge):
#### Terminal 3 (bridge)
```sh
source ~/catkin_mara_ws/devel/setup.bash
source ~/ros2_mara_ws/install/setup.bash

ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions -motors ~/ros2_mara_ws/src/mara/individual_trajectories_bridge/config/motors_actions.yaml
```

### Usage on the real robot
### MoveIt! with MARA - Real Robot
Plan trajectories in a real environment with MoveIt!.

#### Terminal 1 (ROS 2.0)
```sh
Expand Down Expand Up @@ -213,11 +223,10 @@ export ROS_DOMAIN_ID=22
ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions -motors ~/ros2_mara_ws/src/mara/individual_trajectories_bridge/config/motors_actions.yaml &
```

### Examples

- [mara_examples](https://github.com/AcutronicRobotics/mara_examples.git)
## Examples
- [Documentation and tutorials](https://acutronicrobotics.com/docs/products/robots/mara)
- [mara_examples](https://github.com/AcutronicRobotics/mara_examples.git)

### Help
## Help

If you need help with MARA's real robot or its simulation, feel free to raise an issue [here](https://github.com/AcutronicRobotics/MARA/issues).