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Nicolas Hiillos
2023-02-23 13:41:59 +02:00
parent 5f7c16c2bb
commit 63b17f95e3
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@@ -25,7 +25,7 @@ bash .docker/devel.bash
``` ```
This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`. This will mount the host `drawing-robot-ros2` directory in the container at `src/drawing-robot-ros2`.
## Building locally ## TODO Building locally
Requirements: Requirements:
- python3-pip - python3-pip
@@ -42,32 +42,41 @@ source src/install/local_setup.bash
``` ```
## Running ## Running
### RobotController
One of the following RobotControllers should be started:
Run DummyController echoes Motion messages to the terminal.
``` sh ``` sh
ros2 run robot_controller dummy_controller ros2 run robot_controller dummy_controller
``` ```
or
AxidrawController draws on the axidraw robot
``` sh ``` sh
ros2 launch axidraw_controller axidraw_controller ros2 launch axidraw_controller axidraw_controller
``` ```
or
This starts the simulated lite6
``` sh ``` sh
ros2 launch lite6_controller lite6_gazebo.launch.py ros2 launch lite6_controller lite6_gazebo.launch.py
``` ```
or
This runs the real lite6
``` sh ``` sh
ros2 launch lite6_controller lite6_real.launch.py ros2 launch lite6_controller lite6_real.launch.py
``` ```
or
This runs the real lite6 without Rviz (can be run on headless device over ssh)
``` sh ``` sh
ros2 launch lite6_controller lite6_real_no_gui.launch.py ros2 launch lite6_controller lite6_real_no_gui.launch.py
``` ```
And simultaneously (using tmux or another terminal) run ### DrawingController
Once a RobotController is running, simultaneously (using tmux or another terminal) run
``` sh ``` sh
ros2 run drawing_controller drawing_controller svg/test.svg ros2 run drawing_controller drawing_controller svg/test.svg
``` ```
This will draw the svg image given as the last argument.
## Creating compatible SVG images ## Creating compatible SVG images
https://github.com/visioncortex/vtracer https://github.com/visioncortex/vtracer