Skip to content
This repository has been archived by the owner on Oct 9, 2019. It is now read-only.

reduce duplicated in readme #70

Merged
merged 2 commits into from
May 7, 2019
Merged

reduce duplicated in readme #70

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
04e2d68
reduce duplicated in readme
alesolano May 7, 2019
b692b4a
remove amps
alesolano May 7, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 7 additions & 19 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -248,19 +248,7 @@ Motion planning, manipulation, 3D perception, kinematics, control and navigation
Plan trajectories in a virtual environment with Gazebo and MoveIt!.

#### Terminal 1 (ROS 2.0)

```sh
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:

```sh
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`*
[Launch MARA in Gazebo](https://github.com/AcutronicRobotics/MARA#gazebo).

#### Terminal 2 (ROS)
```sh
Expand Down Expand Up @@ -313,16 +301,16 @@ ros2 launch mara_bringup mara.launch.py --urdf mara_robot_gripper_140

```sh
source ~/catkin_mara_ws/devel_isolated/setup.bash
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real &
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real
```

If you have used a different urdf in the Terminal 1, you will have to launch the corresponding one to match it:

```sh
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=140 table:=false &
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=140 &
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=85 &
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=hande &
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=140 table:=false
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=140
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=85
roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real gripper:=true prefix:=hande
```

#### Terminal 3 (bridge)
Expand All @@ -334,7 +322,7 @@ source ~/ros2_mara_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_opensplice_cpp
export ROS_DOMAIN_ID=22

ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions -motors ~/ros2_mara_ws/src/mara/hros_cognition_mara_components/config/motors.yaml real &
ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions -motors ~/ros2_mara_ws/src/mara/hros_cognition_mara_components/config/motors.yaml real
```
<br/>

Expand Down