update README

CMakeLists.txt

@@ -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
-)

README.md

@@ -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`.