From 69fdde1da78ee4174dec2db074723d90c2dd8a60 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Fri, 28 Aug 2020 14:39:14 +0200 Subject: [PATCH] clean README --- README.md | 64 ++++++++++--------------------------------------------- 1 file changed, 11 insertions(+), 53 deletions(-) diff --git a/README.md b/README.md index 62745b2..6c1893b 100644 --- a/README.md +++ b/README.md @@ -3,71 +3,29 @@ ## Important Remarks: - Much of the code in the contained submodules is based on the information [Erdal Pekel's Blog](https://erdalpekel.de/). **Thanks, Erdal!** -- The state outside of the master branch must be considered as "work-in-progress". Only the master branch is stable here. -- Currently, only very simple use cases are contained here. We will gradually update the code. Watch this space! -- The examples only work when *all* projects in this workspace are checked out. -## Docker +## Cloning the repository -To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation -instructions further below in this document. Please note that the setup for Windows and Mac OS systems uses X11 forwarding and thus -offers limited graphics performance. +The repository contains submodules that must also be cloned +- as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/mpm4cps2020.git workspace` +- as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/mpm4cps.git workspace` -- Clone this repo and its submodules: - - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros-interal/panda_gazebo_workspace.git panda_gazebo_workspace` - - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros-interal/panda_gazebo_workspace.git panda_gazebo_workspace` -- Follow the steps for your operating system. +## Running the use case -### Linux +The use case can be executed directly (with all requirements installed) or using docker-compose. +Additionally, a combination of both approaches is also possible. -- Install Docker for your linux distribution -- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace` +### Running the use case with docker-compose -### Windows 10 +To quickly run the demo, you can use *docker-compose*. +Since the use case includes X11 GUI applications, currently only Linux is supported. -- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows) -- Install [Xming](https://sourceforge.net/projects/xming/) -- Run `docker-run.bat roslaunch sample_applications sample_simple_simulation.launch` -### Mac OS +### Running the use case directly -- Install [Docker Destop for Mac OS](https://hub.docker.com/editions/community/docker-ce-desktop-mac) -- Install [XQuartz](https://www.xquartz.org/). Enable the `Allow connections from network clients` setting in the preferences (`Security` Tab). -- Run `docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch` ## Requirements for development - Ubuntu 18.4 - ROS Melodic -## Installation - -- There are two ways to install, using git submodules or by cloning the required ros packages individually. - - **Either** clone this repo and its submodules (recommended for fresh installations): - - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` - - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` -- change into the workspace `cd panda_gazebo_workspace` - - **Or** clone the provided packages individually (recommended for existing ROS workspaces or if you do not understand or like submodules) - - if you do not have a catkin workspace yet, create one `mkdir -p panda_gazebo_workspace/src` - - change into a `src` directory of a catkin workspace, e.g. with `cd panda_gazebo_workspace/src` - - clone the four provided packages into the `src` directory (use https if you are not registered or do not have configured an ssh key yet) - - `git clone https://git-st.inf.tu-dresden.de/ceti/ros/franka_description.git` **or** `git clone git@git-st.inf.tu-dresden.de:ceti/ros/franka_description.git` - - `git clone https://git-st.inf.tu-dresden.de/ceti/ros/panda_moveit_config.git` **or** `git clone git@git-st.inf.tu-dresden.de:ceti/ros/panda_moveit_config.git` - - `git clone https://git-st.inf.tu-dresden.de/ceti/ros/panda_simulation.git` **or** `git clone git@git-st.inf.tu-dresden.de:ceti/ros/panda_simulation.git` - - `git clone https://git-st.inf.tu-dresden.de/ceti/ros/sample_applications.git` **or** `git clone git@git-st.inf.tu-dresden.de:ceti/ros/sample_applications.git` - - change into the workspace main directory `cd ..` -- install ROS package dependencies `rosdep install --from-paths .` -- build the workspace `catkin build` -- source the config: depending on your shell - - `source devel/setup.bash` (default) - - `source devel/setup.sh` - - `source devel/setup.zsh` - -## Simulations - -See the [README.md of the submodule](../../../../sample_applications/-/blob/master/README.md) for more information. - -- For planning and simulation based on rviz: `roslaunch panda_simulation simulation.launch` -- Execution of a simple motion: `roslaunch sample_applications sample_simple_simulation.launch` -- Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch` -- Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch` -- GitLab