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Fixed markdown in README.

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commit a796b3c41c900cc9b2fae24eb20defaa163738e1 1 parent 609b5ed
Linda oscillare authored
Showing with 47 additions and 34 deletions.
  1. +47 −34 ihe_hardware/urdf_compose/README.md
81 ihe_hardware/urdf_compose/README.md
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@@ -1,25 +1,30 @@
-Run GUI
--------
+I. Run GUI
+----------
1. Build the turtlebot_body.
- roscd urdf_compose/urdf
- rosrun urdf_compose compose.py ../demo/turtlebot_body.yaml -o turtlebot_body.urdf.xacro
+```
+roscd urdf_compose/urdf
+rosrun urdf_compose compose.py ../demo/turtlebot_body.yaml -o turtlebot_body.urdf.xacro
+```
2. Run the GUI.
- rosrun urdf_compose gui.py
+```
+rosrun urdf_compose gui.py
+```
Only macros from added files will be displayed in the "Accessories" list.
You can view your robot with the attached accessories by clicking on the
"Launch rviz" button. To reactivate the GUI window after launching rviz, close
-the opened rviz window and press Ctrl+C in the terminal where the GUI is
+the opened rviz window and press `Ctrl+C` in the terminal where the GUI is
running.
-Adding Your URDFs to the Compositor Automatically
--------------------------------------------------
+
+II. Adding Your URDFs to GUI Compositor Automatically
+-----------------------------------------------------
In your manifest.xml, add the following export statement:
@@ -33,6 +38,7 @@ URDF (verify by running the check_urdf script in the urdf package). The
plugin attribute is used for accessories that are to be added onto the base,
i.e., the file contains macros.
+
Format for Descripiton Files (uraf)
-----------------------------------
@@ -58,30 +64,19 @@ Format for Descripiton Files (uraf)
- <accessory name/macro name>
<parameter name>: <value> # parameters for required piece
-Examples are located in $(find urdf_compose)/urdf/kinect.uraf and
-$(find turtlebot_xtion_top_description)/urdf/xtion.uraf
-
-
-Format for File to be Processed by compose.py (yaml)
-----------------------------------------------------
+Examples are located in `$(find urdf_compose)/urdf/kinect.uraf` and
+`$(find turtlebot_xtion_top_description)/urdf/xtion.uraf`.
- - package: <package name>
- files:
- - filename: <filename>
- parts:
- - part_name: <macro name>
- params:
- <parameter name>: <parameter value>
-Generate urdf File (compose.py)
--------------------------------
+III. Generate urdf File (compose.py)
+------------------------------------
To generate an XML file, run:
rosrun urdf_compose compose.py <yaml> [-o <outfile>] [-n <robot name>]
-If -o is not specificed, the default is standard output. If -n is not
+If `-o` is not specificed, the default is standard output. If `-n` is not
specified, the default is "turtlebot".
This script is to be used only if all parts listed are macros.
@@ -92,23 +87,41 @@ Run Demo (compose.py)
1. Open the urdf directory.
- roscd urdf_compose/urdf
+```
+roscd urdf_compose/urdf
+```
2. Generate urdf files. (yaml files are located in the demo directory.)
- rosrun urdf_compose compose.py ../demo/kinect.yaml -o kinect.urdf.xacro -n kinect
- rosrun urdf_compose compose.py ../demo/xtion.yaml -o xtion.urdf.xacro -n xtion
- rosrun urdf_compose compose.py ../demo/turtlebot_body.yaml -o turtlebot_body.urdf.xacro
- rosrun urdf_compose compose.py ../demo/turtlebot.yaml -o turtlebot.urdf.xacro
+```
+rosrun urdf_compose compose.py ../demo/kinect.yaml -o kinect.urdf.xacro -n kinect
+rosrun urdf_compose compose.py ../demo/xtion.yaml -o xtion.urdf.xacro -n xtion
+rosrun urdf_compose compose.py ../demo/turtlebot_body.yaml -o turtlebot_body.urdf.xacro
+rosrun urdf_compose compose.py ../demo/turtlebot.yaml -o turtlebot.urdf.xacro
+```
3. Launch rviz.
- roslaunch urdf_compose demo.launch model:=<model>
+```
+roslaunch urdf_compose demo.launch model:=<model>
+```
- <model> = { kinect.urdf.xacro,
- xtion.urdf.xacro,
- turtlebot.urdf.xacro,
- turtlebot_body.urdf.xacro }
+ &lt;model&gt; = {kinect.urdf.xacro,
+ xtion.urdf.xacro,
+ turtlebot.urdf.xacro,
+ turtlebot_body.urdf.xacro }
Note: The turtlebot_body included in the package does not include the kinect
standoffs like the body included in turtlebot_description.
+
+
+Format for File to be Processed by compose.py (yaml)
+----------------------------------------------------
+
+ - package: <package name>
+ files:
+ - filename: <filename>
+ parts:
+ - part_name: <macro name>
+ params:
+ <parameter name>: <parameter value>
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