From a274d3fbbbcd251de3b1fee5e068aa65437f4c5d Mon Sep 17 00:00:00 2001 From: alesolano Date: Tue, 7 May 2019 10:13:47 +0200 Subject: [PATCH 1/5] recommend rviz from source --- README.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index f3b89af..ac29b4c 100644 --- a/README.md +++ b/README.md @@ -227,7 +227,7 @@ ros2 launch mara_gazebo mara_gripper_hande.launch.py ### Launching MARA's Simulation Complimentary information is available in our [documentation's simulation section](https://acutronicrobotics.com/docs/technology/h-ros/api/level1/visualization). -Skip this step if you are working with the real MARA. +Skip this step if you are working with the real MARA. You can choose one of the available launch files. Let's launch MARA with the Robotiq's S140 Gripper for instance: @@ -237,12 +237,16 @@ ros2 launch mara_gazebo mara_gripper_140.launch.py ### Visualizing MARA in RViz2 -3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). It is possible to [compile RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) or load the 3D model via URDF file. +3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). We recommend to [compile RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) to solve this issue. ```bash +source ~/rviz2_ws/install/setup.bash +source ~/ros2_mara_ws/install/setup.bash rviz2 -d `ros2 pkg prefix mara_description`/share/mara_description/rviz/visualization.rviz ``` +Alternatively, instead of using the robot_description topic, you can load the 3D model manually picking the URDF file after launching RViz. + ## MoveIt! Motion planning, manipulation, 3D perception, kinematics, control and navigation through brigdes. From 6d0e6d16c3470122d7f4b628ebfc26ab3caab0f7 Mon Sep 17 00:00:00 2001 From: alesolano Date: Tue, 7 May 2019 10:17:55 +0200 Subject: [PATCH 2/5] update urdf launching --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index ac29b4c..3f8d7b8 100644 --- a/README.md +++ b/README.md @@ -215,14 +215,14 @@ 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 grippers. +**Optionally**, you can launch the MARA robot with gripper and/or a table using the `--urdf` flag to indicate the desired urdf to be used: ```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 +ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140 ``` +*Available urdfs: `mara_robot_gripper_140`, `mara_robot_gripper_140_no_table`, `mara_robot_gripper_85` and `mara_robot_gripper_hande`* + ## RViz ### Launching MARA's Simulation Complimentary information is available in our [documentation's simulation section](https://acutronicrobotics.com/docs/technology/h-ros/api/level1/visualization). From cc5e271331f84ed6e25493b29eebe6426c803a1b Mon Sep 17 00:00:00 2001 From: alesolano Date: Tue, 7 May 2019 10:18:31 +0200 Subject: [PATCH 3/5] remove deprecated amps --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 3f8d7b8..4050141 100644 --- a/README.md +++ b/README.md @@ -272,16 +272,16 @@ ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140 #### Terminal 2 (ROS) ```sh source ~/catkin_mara_ws/devel_isolated/setup.bash -roslaunch mara_bringup mara_bringup_moveit_actions.launch & +roslaunch mara_bringup mara_bringup_moveit_actions.launch ``` **Optionally**, you can launch one of these launch files, according to the choice in the Terminal 1. ```sh -roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 table:=false & -roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 & -roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=85 & -roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=hande & +roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 table:=false +roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=140 +roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=85 +roslaunch mara_bringup mara_bringup_moveit_actions.launch gripper:=true prefix:=hande ``` #### Terminal 3 (bridge) From d17593b8e92481e825de042e475e94665ba8a102 Mon Sep 17 00:00:00 2001 From: alesolano Date: Tue, 7 May 2019 10:22:18 +0200 Subject: [PATCH 4/5] improve sentence --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 4050141..e32e5b0 100644 --- a/README.md +++ b/README.md @@ -237,7 +237,7 @@ ros2 launch mara_gazebo mara_gripper_140.launch.py ### Visualizing MARA in RViz2 -3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). We recommend to [compile RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) to solve this issue. +3D model visualization via robot_description topic will be supported in the upcoming ROS2 Dashing debian packages ([Rviz2 Issue](https://github.com/ros2/rviz/issues/395)). We recommend to [compile RViz from sources](https://github.com/ros2/rviz#building-rviz-in-a-separate-workspace) in the meantime. ```bash source ~/rviz2_ws/install/setup.bash From e5a06e4738e8a2a02c33daedd0b57491263de62a Mon Sep 17 00:00:00 2001 From: Nestor Gonzalez Date: Tue, 7 May 2019 15:38:49 +0700 Subject: [PATCH 5/5] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index e32e5b0..e06ef02 100644 --- a/README.md +++ b/README.md @@ -215,7 +215,7 @@ source ~/ros2_mara_ws/install/setup.bash ros2 launch mara_gazebo mara.launch.py ``` -**Optionally**, you can launch the MARA robot with gripper and/or a table using the `--urdf` flag to indicate the desired urdf to be used: +**Optionally**, you can launch the MARA robot with gripper and/or a table using the `--urdf` flag to indicate the desired urdf to be spawned: ```sh ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140 @@ -245,7 +245,7 @@ source ~/ros2_mara_ws/install/setup.bash rviz2 -d `ros2 pkg prefix mara_description`/share/mara_description/rviz/visualization.rviz ``` -Alternatively, instead of using the robot_description topic, you can load the 3D model manually picking the URDF file after launching RViz. +Alternatively, instead of using the `robot_description` topic, you can load the 3D model manually selecting the URDF file in RViz. ## MoveIt! Motion planning, manipulation, 3D perception, kinematics, control and navigation through brigdes.