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Replace readme crystal with dashing #94

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Replace readme crystal with dashing #94

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46 changes: 23 additions & 23 deletions README.md
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Expand Up @@ -82,7 +82,7 @@ Among other things, you will find in this repository instructions on how to simu
| Height | 871 mm |
| Reach | 656 mm |
| Footprint | 204 mm |
| Robotics framework | ROS 2.0 Crystal Clemmys |
| Robotics framework | ROS 2.0 Dashing Diademata |
| Communication interfaces | 1 Gbps Ethernet, Compliant with TSN standards |
| Information model | Hardware Robot Information Model (HRIM®), version Coliza |
| Security | Encrypted and secure computing environment, Secure data exchange capabilities               |
Expand Down Expand Up @@ -110,30 +110,30 @@ In this section we will install all the necessary dependencies in order to be ab

### ROS 2.0

- **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 2.0 Dashing**: following the official instructions, [source](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/) or [debian packages](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/).

### Dependent tools
**Note**: We recommend installing **Gazebo 9.0.0** via **ROS Crystal Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-crystal-gazebo*` packages and add [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/crystal) to the `ros2_mara_ws` we are going to build in the [Create a ROS workspace](#create-a-ros-20-workspace) section.
**Note**: We recommend installing **Gazebo 9.9.0** via **ROS Dashing Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-dashing-gazebo*` packages.

```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-gazebo-dev \
ros-crystal-gazebo-msgs \
ros-crystal-gazebo-plugins \
ros-crystal-gazebo-ros \
ros-crystal-gazebo-ros-pkgs
ros-dashing-action-msgs \
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Not sure if all of them are needed, or they are installed using ros-dashing-base. I'll have a look!

ros-dashing-message-filters \
ros-dashing-yaml-cpp-vendor \
ros-dashing-urdf \
ros-dashing-rttest \
ros-dashing-tf2 \
ros-dashing-tf2-geometry-msgs \
ros-dashing-rclcpp-action \
ros-dashing-cv-bridge \
ros-dashing-control-msgs \
ros-dashing-image-transport \
ros-dashing-gazebo-dev \
ros-dashing-gazebo-msgs \
ros-dashing-gazebo-plugins \
ros-dashing-gazebo-ros \
ros-dashing-gazebo-ros-pkgs

sudo apt install -y \
python3-vcstool python3-numpy wget python3-pyqt5
Expand All @@ -145,7 +145,7 @@ Create the workspace and download source files:
```sh
mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/dashing/mara-ros2.repos
vcs import src < mara-ros2.repos
```

Expand All @@ -163,7 +163,7 @@ hrim generate models/actuator/gripper/gripper.xml
Please make sure you are not sourcing ROS workspaces via `.bashrc` or any other way.

```sh
source /opt/ros/crystal/setup.bash
source /opt/ros/dashing/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.
Expand Down Expand Up @@ -192,7 +192,7 @@ Compile the trajectory bridge located in the workspace using ROS as source.
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
sed -i 's#/opt/ros/melodic#/opt/ros/dashing#g' ~/ros2_mara_ws/install/setup.bash
```
#### ROS Workspace
Compile the MARA_ROS1 packages.
Expand Down Expand Up @@ -328,7 +328,7 @@ 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.git) (_Not ported to dashing yet_)

<br/>

Expand Down