From f35375e72ef040bfc08dbdfeee615ee1237ee516 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Thu, 8 Jul 2021 15:12:17 +0200 Subject: [PATCH] update readme --- README.md | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/README.md b/README.md index 8a2718b..bbd4d3c 100644 --- a/README.md +++ b/README.md @@ -71,25 +71,25 @@ This demonstrator contains two mock-up nodes that can serve as stand-ins for fut #### Configuration -- configure the collision objects: +- configure the scene (*not* required when using the dummy controller): ``` - rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects.yaml + rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_full.yaml ``` -- configure the bin: - ``` - rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bin.yaml - ``` -- configure the table: - ``` - rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml - ``` - A parameter <safety_mode> has to be set in the configuration file to "base" or "safe", where the safe modes a safety-space around the table #### Execution - pick an object by id: `rostopic pub -1 /robot/pick std_msgs/String "objectRed1"` - place a picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"` +### Connect to the CGV framework + +- **CASE 1** The robot controller is *not* accepting connections, but the AR server is. + - ensure a SSH server is running on the AR server + - On the robot controller, connect to it + ``` + ssh stadmin@141.76.65.71 -R 6576:localhost:6576 + ``` + ### Using the Example with Docker The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container. -- GitLab