Commit 7b2e985c authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

updated documentation to get it running

parent 41885acb
......@@ -14,16 +14,33 @@ Includes the following important components:
#### How to Run
1. Source catkin workspace containing ur_robot_driver
1. Import git submodules.
```bash
source catkin_ws/devel/setup.zsh
git submodule init
git submodule update
```
2. Run the launch file to connect to the UR5 with the calibration file
2. Make catkin workspace.
```bash
cd catkin_ws
catkin_make
source devel/setup.zsh
cd ..
```
2. Run the following 3 launch files in 3 tabs.
```bash
# Connect to the UR5e and launch a controller service
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.95 kinematics_config:=$(pwd)/calibration.yaml
# Launch MoveIt and connect it to the controller service
launch 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
```
3. Run the controller file.
......
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