Commit 3169daaa authored by Mathieu Reymond's avatar Mathieu Reymond
Browse files

update README

parent 9ff9b6a5
......@@ -32,20 +32,3 @@ catkin_package(
baxter_interface
)
install(
DIRECTORY scripts/
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
USE_SOURCE_PERMISSIONS
)
install(
DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
USE_SOURCE_PERMISSIONS
)
install(
DIRECTORY share/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/share
USE_SOURCE_PERMISSIONS
)
......@@ -2,7 +2,7 @@
## Installation
Follow the instructions from the [Workstation Setup](http://sdk.rethinkrobotics.com/wiki/Workstation_Setup) :
Follow the instructions from the [Workstation Setup](http://sdk.rethinkrobotics.com/wiki/Workstation_Setup), the [Simulator installation](http://sdk.rethinkrobotics.com/wiki/Simulator_Installation#Baxter_Simulator_Installation), the [Moveit tutorial](http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial) and the [PyKDL tutorial](http://sdk.rethinkrobotics.com/wiki/Baxter_PyKDL) :
1. Setup your sources.list
```bash
......@@ -16,19 +16,15 @@ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
```bash
sudo apt-get update
```
4. Install ROS Indigo Desktop Full
4. Install All Dependencies (ROS Indigo, rosinstall, SDK, Simulator, Moveit, PyKDL)
```bash
sudo apt-get install ros-indigo-desktop-full
sudo apt-get install ros-indigo-desktop-full python-rosinstall git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers gazebo2 ros-indigo-qt-build ros-indigo-driver-common ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-control-toolbox ros-indigo-realtime-tools ros-indigo-ros-controllers ros-indigo-xacro python-wstool ros-indigo-tf-conversions ros-indigo-kdl-parser ros-indigo-moveit ros-indigo-moveit-full-pr2 ros-indigo-moveit-full ros-indigo-python-orocos-kdl ros-indigo-orocos-kinematics-dynamics ros-indigo-kdl-conversions ros-indigo-orocos-kdl
```
5. Initialize rosdep
```bash
sudo rosdep init
rosdep update
```
6. Install rosinstall
```bash
sudo apt-get install python-rosinstall
```
7. Create ROS Workspace
```bash
mkdir -p ros/src
......@@ -43,79 +39,27 @@ cd ros
catkin_make
catkin_make install
```
10. Install SDK Dependencies
```bash
sudo apt-get update
sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-indigo-control-msgs ros-indigo-joystick-drivers
```
11. Install Baxter SDK
```bash
cd src
wstool init .
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
wstool update
```
12. Source ROS Setup
```bash
source /opt/ros/indigo/setup.bash
```
13. Build and Install
```bash
cd ..
catkin_make
catkin_make install
```
14. Download baxter script
```bash
wget https://github.com/RethinkRobotics/baxter/raw/master/baxter.sh
chmod u+x baxter.sh
```
15. Simulator Prerequisites
```bash
sudo apt-get install gazebo2 ros-indigo-qt-build ros-indigo-driver-common ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-control-toolbox ros-indigo-realtime-tools ros-indigo-ros-controllers ros-indigo-xacro python-wstool ros-indigo-tf-conversions ros-indigo-kdl-parser
```
Follow the instructions from the [Simulator installation](http://sdk.rethinkrobotics.com/wiki/Simulator_Installation#Baxter_Simulator_Installation) :
1. Install baxter_simulator
11. Install Baxter SDK, Simulator, Moveit, PyKDL, our project
```bash
cd src
wstool init .
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
wstool update
```
2. Build Source
```bash
source /opt/ros/indigo/setup.bash
cd ..
catkin_make
```
Clone our project :
1. Clone GarbageBot
```bash
cd src
git clone https://github.com/ros-planning/moveit_robots.git
git clone https://github.com/RethinkRobotics/baxter_pykdl.git
git clone https://github.com/Ardillen66/GarbageBot.git
cd ..
catkin_make
```
Follow the instructions from the [Moveit tutorial](http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial) :
1. MoveIt Prerequisites
```bash
sudo apt-get install ros-indigo-moveit
sudo apt-get install ros-indigo-moveit-full-pr2
sudo apt-get install ros-indigo-moveit-full
```
2. Setup environment
```bash
source /opt/ros/indigo/setup.bash
wstool update
```
3. Install MoveIt
13. Build and Install
```bash
cd src
git clone https://github.com/ros-planning/moveit_robots.git
cd ..
catkin_make
catkin_make install
```
## Run the environment
......@@ -146,11 +90,11 @@ baxter_interface.RobotEnable().enable()
## Run an example
Open another simulator shell, and type:
```bash
rosrun garbage_bot test.py
rosrun garbage_bot example.py
```
This is the same as Running
```bash
python src/Garbagebot/src/test/test.py
python src/Garbagebot/src/planning/example.py
```
ROS packages are defined by both `package.xml` and `CMakeLists.txt` in our project folder. The python binding is done in `setup.py`.
......
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