From 75f0d553fe13673d4064c30b669c5c71e099b420 Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Sun, 12 Apr 2020 14:45:24 -0400
Subject: [PATCH] Remove Submodule & Fix Dockerfile

- Remove gazebo source submodule
- Fix dockerfile to use sudo to install ariac3 package
- Remove instructions related to submodule
- Remove sourcing setup.bash in workspace from instructions
---
 .gitmodules                     |  3 ---
 docker_env/warehouse/Dockerfile |  5 +++--
 docs/home.md                    | 20 ++++++--------------
 rrrobot_src/warehouse/src/ariac |  1 -
 4 files changed, 9 insertions(+), 20 deletions(-)
 delete mode 160000 rrrobot_src/warehouse/src/ariac

diff --git a/.gitmodules b/.gitmodules
index 6792f50..e69de29 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "rrrobot_src/warehouse/src/ariac"]
-	path = rrrobot_src/warehouse/src/ariac
-	url = https://github.com/osrf/ariac-gazebo_ros_pkgs.git
diff --git a/docker_env/warehouse/Dockerfile b/docker_env/warehouse/Dockerfile
index 116ab9e..472258a 100644
--- a/docker_env/warehouse/Dockerfile
+++ b/docker_env/warehouse/Dockerfile
@@ -36,14 +36,15 @@ RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGI
 
 USER rrrobot
 
+# Install Gazebo Environment for Agile Robotics (GEAR)
 RUN sudo apt-get update && \
     sudo apt-get install -y \
         wget
 
 RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
     wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
-    apt-get update && \
-    apt-get install -y \
+    sudo apt-get update && \
+    sudo apt-get install -y \
         ariac3
 
 CMD ["/bin/bash"]
diff --git a/docs/home.md b/docs/home.md
index 995aad0..24fc341 100644
--- a/docs/home.md
+++ b/docs/home.md
@@ -102,27 +102,19 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
 
 ### Warehouse Simulation
 
-1. Clone repo
-   - HTTPS: `git clone https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git`
-   - SSH: `git clone git@github.com:EECS-467-W20-RRRobot-Project/RRRobot.git`
-2. Go to `RRRobot` folder
-   - `cd /PATH/TO/RRRobot`
-3. Get submodule(s)
-   - `git submodule init`
-4. Go to `docker_env` folder
+1. Go to `docker_env` folder
      - `cd /PATH/TO/RRRobot/docker_env`
-5. Start gazebo docker container
+2. Start gazebo docker container
    - `docker-compose run --rm warehouse`
-6. Source ROS Setup
+3. Source ROS Setup
    - `source /opt/ros/melodic/setup.bash`
-7. Go to warehouse folder in container
+4. Go to warehouse folder in container
    - `cd /app/rrrobot_src/warehouse`
-8. Build package
+5. Build package
    - `catkin_make clean`
    - `catkin_make`
    - `catkin_make install`
-   - `source devel/setup.bash`
-9. Run sample environment
+6. Run sample environment
    - `roslaunch osrf_gear sample_environment.launch`
 
 ### Gazebo Grasping Simulation
diff --git a/rrrobot_src/warehouse/src/ariac b/rrrobot_src/warehouse/src/ariac
deleted file mode 160000
index 2b4816a..0000000
--- a/rrrobot_src/warehouse/src/ariac
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 2b4816ac70353ed981ef06a6627b0265da7b1fbe