From 172f779307516a3e6e57e25dddb63439b51d7ab2 Mon Sep 17 00:00:00 2001 From: Fatma-Dhaoui Date: Thu, 19 Sep 2024 14:42:39 +0200 Subject: [PATCH] readme final version --- README.md | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index b0383f0a..66499ed0 100644 --- a/README.md +++ b/README.md @@ -14,8 +14,9 @@ - [Setup](#setup) - [Install From Source](#install-from-source) - [Use VSCode DevContainer](#use-vscode-devcontainer) + - [Test the Setup](#test-the-setup) - [Troubleshooting](#troubleshooting) - - [Error: Docker Unable to Access /tmp/.X11-unix](#error-docker-unable-to-access-tmpx11-unix) + - [libfranka: UDP receive: Timeout error](#libfranka-udp-receive-timeout-error) - [Contributing](#contributing) - [License](#license) - [Contact](#contact) @@ -37,14 +38,11 @@ Before installing **franka_ros2**, ensure you have the following prerequisites: Regardless of your setup, it is important to check the compatibility of your Robot OS version with libfranka to avoid potential errors. For detailed compatibility information, please consult the [libfranka compatibility matrix](https://frankaemika.github.io/docs/compatibility.htmlk-to-matrix). ## Optional .bashrc Settings -Enhance your development experience by adding the following lines to your `.bashrc` file: +Enhance your development experience by adding the following line to your `.bashrc` file: ```bash # Enable colorized warn and error messages export RCUTILS_COLORIZED_OUTPUT=1 - -# Set system language to American English to avoid issues in RViz -export LC_NUMERIC=en_US.UTF-8 ``` ## Setup @@ -135,6 +133,17 @@ The `franka_ros2` package includes a `.devcontainer` folder, which allows you to colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.sh ``` + + +### Test the Setup + +To verify that your setup works correctly without a robot, you can run the following command to use dummy hardware: + +```bash +ros2 launch franka_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true +``` + + ## Troubleshooting ### `libfranka: UDP receive: Timeout error` @@ -144,7 +153,7 @@ A real-time kernel is essential to ensure proper communication and to prevent ti ## Contributing -Contributions are welcome! Please see [CONTRIBUTING.md]() for more details on how to contribute to this project. +Contributions are welcome! Please see [CONTRIBUTING.md](https://github.com/frankaemika/franka_ros2/blob/humble/CONTRIBUTING.md) for more details on how to contribute to this project. ## License