From d743016402bda648ecaeb7fa722514f3d5595b0e Mon Sep 17 00:00:00 2001 From: thomason <84239247+thomasonzhou@users.noreply.github.com> Date: Fri, 28 Mar 2025 19:09:46 +0900 Subject: [PATCH] Update README.md with installation instructions --- README.md | 37 +++++++++++++++++++++++++++++++------ 1 file changed, 31 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index fae8c26..c124c38 100644 --- a/README.md +++ b/README.md @@ -6,23 +6,48 @@ - openarm_hardware: hardware interface for ros2_control - openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2) -## Description Packages + + +### Description Packages Each link has a visual mesh and a collision mesh, as shown in the figures below: visual meshes of openarm_bimanual_description urdf in rviz2 collision meshes of openarm_bimanual_description urdf in rviz2 -## MoveIt2 Support +### MoveIt2 Support https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef +## Installation -Tested with: -- [x] Rolling -- [x] Jazzy -- [x] Humble +1. [Install ROS2](https://docs.ros.org/en/humble/Installation.html) (Humble with Ubuntu 22.04 is recommended) +2. [Create a ROS2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) +```sh +mkdir -p ~/ros2_ws/src +cd ~/ros2_ws/src +git clone https://github.com/reazon-research/openarm_ros2.git +``` + +3. [Install dependencies with rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) and [build the packages with colcon](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) + +```sh +cd ~/ros2_ws +sudo rosdep init +rosdep update +rosdep install --from-paths src -y --ignore-src -r + +sudo apt install -y python3-colcon-common-extensions +colcon build +``` + +4. *In a new terminal*, source the workspace setup script + +```sh +cd ~/ros2_ws +. install/setup.bash +``` ## License