From 0f2d8d9830bf0052ce3ea7b6f2e661791f6a3126 Mon Sep 17 00:00:00 2001 From: Yolnan Date: Thu, 14 Mar 2024 15:17:44 -0500 Subject: [PATCH] update README.md --- README.md | 56 +------------------------------------------------------ 1 file changed, 1 insertion(+), 55 deletions(-) diff --git a/README.md b/README.md index 5e52dca..0c78263 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# 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 @@ -6,53 +6,12 @@ This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the 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 - 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 @@ -60,19 +19,6 @@ ros2 launch snp_blending start.launch.xml ``` ### On Hardware -1. Start the ROS1 launch file in a new terminal - ```bash - cd - 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 - 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 source install/setup.bash