Commit 60a7161f authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

update readme and requirements for connection process (#12)

parent d545b738
......@@ -5,12 +5,14 @@ Includes the following important components:
- calibration
- connecting with extruder through ros
### quick dependencies for now:
- ubuntu 18 & ros melodic
### Dependencies
- Ubuntu 18
- ROS Melodic
- MoveIt for ROS Melodic
- Miniconda
1. Installation
### Installation
```bash
# get repo
git clone --recurse-submodules https://code.research.uts.edu.au/bigprint/twins-controller.git
......@@ -30,39 +32,46 @@ catkin_make
cd ..
```
2. Running
### Running on Hardware
```bash
# source catkin workspace in every shell
source ./catkin_ws/devel/setup.zsh
# Run the following 2 or 3 commands in separate tabs
### Run the following 2 or 3 commands in separate tabs
# Connect to the UR5e and launch a controller service
cd calibrations
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.101 kinematics_config:=$(pwd)/r1_cal.yaml
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.101 kinematics_config:=$(pwd)/calibrations/r1_cal.yaml
# NOTE: the IPs for our two arms are 192.168.1.101 and 192.168.1.100 - use r2_cal.yaml for second robot
```
On the UR tablet do the following steps:
1. Turn tablet on
2. Turn robot on - select bottom left "Power Off"
3. Turn robot on - click ON and then START
3. Run Program
4. Load Program
5. select 'External Controller.urp'
6. Play button (bottom centre-right) > Play from beginning
```bash
# Launch MoveIt around the controller service
roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
# Optional: Launch RViz to Visualise the arm
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
# run the main coda
# Run the main code
cd src
ipython -i main.py
```
#### How to Run in Simulation
1. Run the simulated UR5e.
### Running in Simulation
```bash
# Launch simulated ur5e with moveit and visualisation
roslaunch ur5_e_moveit_config demo.launch
```
2. Run the main code.
```bash
# Run the main code
ipython -i main.py
```
......@@ -8,8 +8,6 @@ camera-calibration-parsers==1.11.13
catkin==0.7.29
catkin-pkg==0.4.23
certifi==2020.6.20
controller-manager==0.18.2
controller-manager-msgs==0.18.2
cv-bridge==1.13.0
decorator==4.4.2
defusedxml==0.6.0
......@@ -38,9 +36,6 @@ joint-state-publisher==1.12.15
kdl-parser-py==1.13.1
laser-geometry==1.6.5
message-filters==1.14.10
moveit-commander==1.0.6
moveit-ros-planning-interface==1.0.6
moveit-ros-visualization==1.0.6
numpy==1.16.6
pathlib2==2.3.5
pexpect==4.8.0
......@@ -80,39 +75,6 @@ rostest==1.14.10
rostopic==1.14.10
rosunit==1.14.9
roswtf==1.14.10
rqt-action==0.4.9
rqt-bag==0.4.14
rqt-bag-plugins==0.4.14
rqt-console==0.4.9
rqt-dep==0.4.9
rqt-graph==0.4.11
rqt-gui==0.5.2
rqt-gui-py==0.5.2
rqt-image-view==0.4.16
rqt-launch==0.4.8
rqt-logger-level==0.4.8
rqt-moveit==0.5.7
rqt-msg==0.4.8
rqt-nav-view==0.5.7
rqt-plot==0.4.9
rqt-pose-view==0.5.8
rqt-publisher==0.4.8
rqt-py-common==0.5.2
rqt-py-console==0.4.8
rqt-reconfigure==0.5.3
rqt-robot-dashboard==0.5.7
rqt-robot-monitor==0.5.13
rqt-robot-steering==0.5.10
rqt-runtime-monitor==0.5.7
rqt-rviz==0.6.0
rqt-service-caller==0.4.8
rqt-shell==0.4.9
rqt-srv==0.4.8
rqt-tf-tree==0.6.0
rqt-top==0.4.8
rqt-topic==0.4.11
rqt-web==0.4.8
rviz==1.13.14
scandir==1.10.0
sensor-msgs==1.12.7
simplegeneric==0.8.1
......@@ -129,6 +91,5 @@ tf2-py==0.6.5
tf2-ros==0.6.5
topic-tools==1.14.10
traitlets==4.3.3
urdfdom-py==0.4.4
wcwidth==0.2.5
xacro==1.13.9
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