diff --git a/README.md b/README.md index 78d9c8462502db59e201af14dbdc2c7ccd91acfa..18a7cb001235fc66bc8a4bb6e1241ef8304663c3 100644 --- a/README.md +++ b/README.md @@ -3,4 +3,9 @@ universal_robot This repository provides ROS support for the universal robots. This repo holds source code for all versions > groovy. For those versions <= groovy see: hg https://kforge.ros.org/ros_industrial/universal_robot -To check that the package works, set up a catkin workspace and clone the repository into the src/ folder. It should look something like ~/catkin_ws/src +To check that the package works, set up a catkin workspace and clone the repository into the src/ folder. It should look like ~/catkin_ws/src/universal_robot. Don't forget to source the setup file ($ source ~/catkin_ws/devel/setup.*sh), then use catkin_make to compile. +You can then start the driver with the following commands (start new terminals, don't forget to source the setup shell files): +$ roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT +$ roscd ur_driver; ./test_move.py + +Remember that you should always have your hands on the big red button in case there is something in the way, or anything unexcpected happens.