From f4ff3eeb6da1e42f0f7833731a4f3d624e69118b Mon Sep 17 00:00:00 2001
From: Fernando Herrero <fherrero@iri.upc.edu>
Date: Mon, 31 May 2021 14:23:25 +0000
Subject: [PATCH] Update docs/installation.md
---
docs/installation.md | 38 +++++++++++++++++++++++++++-----------
1 file changed, 27 insertions(+), 11 deletions(-)
diff --git a/docs/installation.md b/docs/installation.md
index 4d47526..7781c45 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -13,18 +13,34 @@
- [ana_common.rosinstall](./rosinstalls/ana_common.rosinstall)
- [ana_real.rosinstall](./rosinstalls/ana_real.rosinstall)
+ For each rosinstall
+
+ roscd; cd ../src
+ wstool merge path/to/rosinstall
+ wstool update -j $(nproc)
+
+
3. Install dependencies
-```
-roscd
-cd ../src
-rosdep install -r -i -y --from-paths .
-```
+ ```
+ roscd
+ cd ../src
+ rosdep install -r -i -y --from-paths .
+ ```
+
+4. (if real robot) Patch ROSARIA.
+
+ Applies git patch to output encoder data and be able to compute odometry with [iri_ana_odom](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_odom) node, as Ana encoders changed when motors were replaced and the default platform odometry is wrongly computed.
+
+ ```
+ roscd rosaria
+ git apply `rospack find iri_ana_bringup`/patch/rosaria_patch.patch
+ ```
-4. Compile the workspace
+5. Compile the workspace
-```
-roscd
-cd ..
-catkin_make
-```
+ ```
+ roscd
+ cd ..
+ catkin_make
+ ```
--
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