Improve package docs

README.md

@@ -1,19 +1,40 @@
 # drawing-robot-ros2
 
+## Building
 
 ``` sh
-source install/local_setup.bash
-cd src/ign_moveit2_examples/src/draw_svg/
-rosdep install --from-paths . --ignore-src -r -y
-colcon build
-source install/local_setup.bash
-ros2 launch draw_svg draw_svg.launch.py
+./rebuild.sh
+```
+``` sh
+source src//install/local_setup.bash
 ```
 
-## xArm lite6
-- web interface: http://192.168.1.150:18333
+## Running
+Run
+``` sh
+ros2 run robot_controller dummy_controller
+```
+or
+``` sh
+ros2 launch axidraw_controller axidraw_controller
+```
+or
+``` sh
+ros2 launch lite6_controller lite6_gazebo.launch.py
+```
+or
+``` sh
+ros2 launch lite6_controller lite6_real.launch.py
+```
+or
+``` sh
+ros2 launch lite6_controller lite6_real_no_gui.launch.py
+```
 
-free drive mode: https://github.com/xArm-Developer/xarm_ros#6-mode-change
+And simultaneously run
+``` sh
+ros2 run drawing_controller drawing_controller src/draw_svg/svg/test.svg
+```
 ## ROS2 rpi4
 https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
 
@@ -33,10 +54,80 @@ apt update && apt upgrade
 
 apt install ros-dev-tools
 ```
+``` sh
+adduser ubuntu dialout #give access to serial devices (axidraw)
+``` 
 
+### Misc commands
+``` sh
+apt update
+apt install tmux python3-colcon-ros python3-pip ros-humble-moveit
+``` 
+
+``` sh
+  apt install colcon
+  apt search colcon
+  apt install ros-dev-tools
+  vi /etc/issue
+  systemctl stop wpa_supplicant
+  wpa_supplicant -B -i wlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf
+  wpa_cli
+  ip link set wlan0 up
+  wpa_cli
+  dhclient wlan0
+  ping google.com
+  apt install ros-galactic-moveit
+  apt install xauth
+  vim /etc/ssh/sshd_config
+  systemctl restart sshd
+  colcon build --packages-select robot_interfaces robot_controller
+```
+
+sets priority for wlan0; uses it as gateway if connected.
+/etc/netplan/50-cloud-init.yaml
+``` sh
+network:
+    wifis:
+        wlan0:
+            dhcp4: true
+            dhcp4-overrides:
+              route-metric: 100
+            optional: true
+            access-points:
+              "SSID":
+                password: "PSK"
+    ethernets:
+        eth0:
+            dhcp4: true
+            dhcp4-overrides:
+              route-metric: 200
+            optional: true
+    version: 2
+```
+/etc/ssh/sshd:
+```
+X11Forwarding yes
+X11UseLocalhost no
+```
 
 ### Access xarm webUI from different network
 If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following:
 ``` sh
 ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199
 ```
+
+## Moveit2 docs
+
+``` sh
+
+git clone https://github.com/ros-planning/moveit2.git
+cd moveit2
+git checkout humble
+
+sudo apt-get install doxygen graphviz
+
+DOXYGEN_OUTPUT_DIRECTORY=docs doxygen
+
+firefox docs/index.html
+
+```