From 97f7e613dc142a949dcad05cc797e8f3e764b499 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Wed, 13 May 2020 09:15:42 +0200 Subject: [PATCH] update README --- README.md | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 2d845ad..73c1801 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ #### Getting started -This package only works together with the fully git-modules cloned workspace repository. So first you have to clone everythink like it is described on https://git-st.inf.tu-dresden.de/ceti/ros-internal/panda_gazebo_workspace. Second you have to clone this repository inside the src-folder of the workspace. +This package was tested with the provided [simulation workspace](https://git-st.inf.tu-dresden.de/ceti/ros-internal/panda_gazebo_workspace). So first you have to clone everything as described in [the README of the workspace](https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace/-/blob/master/README.md). Secondly, you have to clone this repository into the `src` dirctory of the workspace. #### Running the simulation @@ -17,15 +17,18 @@ roslaunch panda_simulation simulation.launch #### Teaching poses -You can teach the (simulated) robot several poses which can be replayed in the order there where teached. +You can teach the (simulated) robot several poses which can be replayed in the order there where taught. ##### Steps to teach the robot poses -1. Drag the robot in rviz to the target destination. -2. Plan and execute the trajectory. -3. Use a sourced console and save the pose by typing `rostopic pub /collectPose std_msgs/String 'collect'`. -4. Do this as much as you want to. -5. Replay the poses by typing `rostopic pub /replayPose std_msgs/String 'replay'` in a sourced console. +- Teach a new sequence of poses + 1. Drag the robot in rviz to the target destination. + 2. Plan and execute the trajectory using the rviz planning interface. + 3. Run `rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'add'`. + 4. Repeat steps 1 to 3 as desired. +- Replay the sequence + 1. Run `rostopic pub -1 panda_teaching/poseReplayer std_msgs/String 'replay'`. +- Reset the pose sequence + 1. Run `rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'clear'`. -You can also reset the saved poses by typing `rostopic pub /collectPose std_msgs/String 'clear'`. -- GitLab