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remove vsc import step from README #167

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merged 3 commits into from
Aug 16, 2023
Merged

remove vsc import step from README #167

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3447800
remove vsc import step from README
moriarty Aug 15, 2023
be5c217
Update README prefer binary install
moriarty Aug 15, 2023
a96b3fe
fixup wording
moriarty Aug 15, 2023
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36 changes: 29 additions & 7 deletions README.md
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Expand Up @@ -52,7 +52,6 @@ ROS2 Kortex is the official ROS2 package to interact with Kortex and its related


## Getting started
<!-- TODO(moriarty) update this when binary package is released getting most users should use binary release -->

1. Install ROS 2.

Expand All @@ -64,35 +63,58 @@ ROS2 Kortex is the official ROS2 package to interact with Kortex and its related

After installing a version of ROS, source the setup.bash, which will set the `$ROS_DISTRO` environment variable.

2. Optional: install Cyclone DDS
2. Install this package from binary
```
sudo apt install ros-$ROS_DISTRO-kortex-bringup
```

3. Optional: install MoveIt Configuration and Cyclone DDS

If you have a 7dof arm:
```
sudo apt install ros-$ROS_DISTRO-kinova-gen3-7dof-robotiq-2f-85-moveit-config
```
If you have a 6dof arm:
```
sudo apt install ros-$ROS_DISTRO-kinova-gen3-6dof-robotiq-2f-85-moveit-config
```
If you plan to use MoveIt, it is recommended to install and use Cyclone DDS.
```
sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
```

3. Make sure that `colcon`, its extensions, and `vcs` are installed:
4. Go to Usage section

## Contributing to this repository or building from source

Note: It is recommended to use a released binary version of this package and apt install it.
If you want the latest version of this repository for testing latest fixes
check out testing with pre-released binaries: https://docs.ros.org/en/rolling/Installation/Testing.html

If the bug fix you need isn't in a released version or If you want to build this repository from source or contribute back to the repository read on.

1. Make sure that `colcon`, its extensions, and `vcs` are installed:
```
sudo apt install python3-colcon-common-extensions python3-vcstool
```

4. Create a new ROS2 workspace:
2. Create a new ROS2 workspace:
```
export COLCON_WS=~/workspace/ros2_kortex_ws
mkdir -p $COLCON_WS/src
```

5. Pull relevant packages, install dependencies, compile, and source the workspace by using:
3. Pull relevant packages, install dependencies, compile, and source the workspace by using:
```
cd $COLCON_WS
git clone https://github.com/PickNikRobotics/ros2_kortex.git src/ros2_kortex
vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex.repos
rosdep install --ignore-src --from-paths src -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
```

6. To simulate the robot with ignition or gazebo make sure to pull and build additional packages:
4. To simulate the robot with ignition or gazebo make sure to pull and build additional packages:
```
vcs import src --skip-existing --input src/ros2_kortex/simulation.repos
rosdep install --ignore-src --from-paths src -y -r
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