update README.md

README.md

@@ -1,78 +1,24 @@
-# SNP Implementation for Robotic Blending Milesone 5
+# SNP Implementation for Robotic Blending Milestone 5
 
 This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for grinding the part in a raster pattern
 
 ## Build Setup
 
 1. Follow the [build setup instructions](https://github.com/ros-industrial-consortium/scan_n_plan_workshop#build-setup) for the main repository
 
-1. Clone the application-specific ROS2 dependencies into the same workspace
-    ```
-    cd <snp_workspace>
-    vcs import src < snp_automate_2022/dependencies.repos
-    ```
 
 ## Build
 
 ```
 colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF
 ```
-
-## ROS1 Hardware Interface Software Installation
-
-Install the requisite ROS1 driver software to run the application on hardware
-
-**Note: this step is not required to run the application in simulation only**
-
-1. Build the ros1_bridge
-    - Create a new workspace, clone this branch of the `ros1_bridge` repository
-      ```bash
-      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git
-      ```
-    - Source the both ROS distros
-      ```bash
-      source /opt/ros/foxy/setup.bash
-      source /opt/ros/noetic/setup.bash
-      ```
-    - Build the bridge
-      ```bash
-      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
-      ```
-
-1. Build the ROS1 workspace
-    - Create a new workspace, clone this commit of the `motoman` repository
-      ```bash
-      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git
-      ```
-    - Source the ROS1 installation
-      ```bash
-      source /opt/ros/noetic/setup.bash
-      ```
-    - Build the repo
-      ```bash
-      catkin build
-      ```
-
 ## Running the system
 ### Simulation
 ```bash
 ros2 launch snp_blending start.launch.xml
 ```
 
 ### On Hardware
-1. Start the ROS1 launch file in a new terminal
-    ```bash
-    cd <ros1_workspace>
-    source devel/setup.bash
-    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
-    ```
-1. Run the bridge in a second terminal
-    ```bash
-    cd <bridge_workspace>
-    source install/setup.bash
-    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
-    ```
-1. Start the ROS2 launch file in a third terminal
     ```bash
     cd <snp_workspace>
     source install/setup.bash