diff --git a/README.md b/README.md index 72afcb465db55450cd48621d2a25f8157497f6d6..66d29353049c9274f12f6909967c21b10cf8c70e 100644 --- a/README.md +++ b/README.md @@ -14,11 +14,11 @@ The expected autonomy of the robot is around 5 hours, and it can operate on its In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot provides: - * A Low [cost IMU sensor]() + * A Low cost [IMU sensor]() * A [Velodyne PUCK Lidar]() - * A [ZED stereo camera]() + * A [Real sense depth camera]() All theses sensors are mainly used for navigation and mapping purposes. @@ -48,26 +48,22 @@ whenever you need to use the robot. The required common dependencies for both the simulated and the real Ana robot are listed below: - * [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup) - * [iri_ana_description](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description) - * [iri_pioneer3_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_bringup) - - * [iri_bno055_imu_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup2Y) +In order to use the real robot, the following dependencies are also required: - * [iri_velodyne_lidar_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup) + * [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup) -To build the workspace, make sure to follow the installation instructions from -each of the packages above. +To build the workspace, make sure to follow the installation and setup +instructions from each of the packages above and their respective dependencies. In order to use the robot in simulation, the following dependencies are also required: * [iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo) -To use the simulator, make sure to follow the installation instructions from -each of the packages above. +To use the simulator, make sure to follow the installation and setup instructions +from each of the packages above and their respective dependencies. # Install @@ -84,30 +80,17 @@ how to initialize the workspace and merge a rosinstall file with it. # How to use the real robot -The test.launch file in the iri_ana_bringup package can be used as an starting -point to use the Ana robot. It sets up and launches all the necessary nodes to -use the robot. The launch file accepts the following parameters: - - * velodyne_config_file: (default: iri_ana_bringup/config/ana_velodyne_vlp16.yaml) -set of parameters for the Velodyne PUCK sensor. Please check the -[iri_velodyne_lidar_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup) -package for a more detailed description of the configuration parameters. +To set up and use the real robot, follow the instructions in the +[iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup) +ROS package. - * velodyne_node_name: (default: front_laser) base name given to the velodyne -related nodes. - - * pioneer_config_file: (default: iri_ana_bringup/config/ana_pioneer.yaml) -set of parameters for the Pioneer3 platform. Please check the -[iri_pioneer3_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/pioneer3/iri_pioneer3_bringup) -package for a more detailed description of the configuration parameters. - - * pioneer_node_name: (default: ana) base name given to the pioneer related -nodes. - - * output: (default: log) the desired output for all nodes. Possible values -for this parameter are log and screen. +Also, carefully follow the procedures listed above to correctly handle the +robot. # How to use the simulated robot +To use the robot in simulation, follow the instructions in the +[iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo) +ROS package. + -#