From dac62c69d52b0e3ac6fc3ac2f45a11d5bdddea63 Mon Sep 17 00:00:00 2001 From: Derek Witcpalek Date: Fri, 3 Apr 2020 21:43:04 -0400 Subject: [PATCH] Updated README with instructions for running the simulation. Also, moved build commands to a script to make it easier to build. --- README.md | 16 ++++++++++++++++ rrrobot_src/src/simulation_drivers/build.sh | 5 +++++ .../model_joints.world => world/rrrobot.world} | 0 3 files changed, 21 insertions(+) create mode 100755 rrrobot_src/src/simulation_drivers/build.sh rename rrrobot_src/{src/simulation_drivers/model_joints.world => world/rrrobot.world} (100%) diff --git a/README.md b/README.md index 52e4c83..ea7ed35 100644 --- a/README.md +++ b/README.md @@ -97,3 +97,19 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi - `cd /PATH/TO/rrrobot/src` 4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services)) - `docker-compose run --rm ` + + +### Building the simulation environment + +1. Build the drivers for the simulation + - `cd /home/rrrobot/rrrobot_src/src/simulation_env/` + - `source build.sh` + + +### Running the simulation + +1. Start ros master node + - `roscore &` +2. Run the gazebo simulator - this will bring up gazebo with a robotic arm + - `gazebo /home/rrrobot/rrrobot_src/world/rrrobot.world` +3. Run control and perception programs diff --git a/rrrobot_src/src/simulation_drivers/build.sh b/rrrobot_src/src/simulation_drivers/build.sh new file mode 100755 index 0000000..96b4638 --- /dev/null +++ b/rrrobot_src/src/simulation_drivers/build.sh @@ -0,0 +1,5 @@ +catkin_make clean +catkin_make +catkin_make install + +source devel/setup.bash diff --git a/rrrobot_src/src/simulation_drivers/model_joints.world b/rrrobot_src/world/rrrobot.world similarity index 100% rename from rrrobot_src/src/simulation_drivers/model_joints.world rename to rrrobot_src/world/rrrobot.world