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Updated README.

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commit d51f374191a2b16337ff8b72d162a76a37c40de5 1 parent a796b3c
@oscillare oscillare authored
Showing with 25 additions and 24 deletions.
  1. +25 −24 ihe_hardware/urdf_compose/README.md
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49 ihe_hardware/urdf_compose/README.md
@@ -3,16 +3,16 @@ 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.
@@ -87,29 +87,30 @@ 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>
+ ```
- &lt;model&gt; = {kinect.urdf.xacro,
- xtion.urdf.xacro,
- turtlebot.urdf.xacro,
- turtlebot_body.urdf.xacro }
+ &lt;model&gt; is a file generated in Step 2, e.g.,
+
+ ```
+ roslaunch urdf_compose demo.launch model:=turtlebot.urdf.xacro
+ ```
Note: The turtlebot_body included in the package does not include the kinect
standoffs like the body included in turtlebot_description.
@@ -124,4 +125,4 @@ Format for File to be Processed by compose.py (yaml)
parts:
- part_name: <macro name>
params:
- <parameter name>: <parameter value>
+ <parameter name>: <parameter value>
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