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Add config to container and documentation

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This commit is contained in:
Nicolas Hiillos
2023-04-28 12:16:11 +03:00
parent 45a3a3ac4d
commit d3e533fdde
2 changed files with 6 additions and 4 deletions
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2
Dockerfile
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@@ -12,6 +12,8 @@ ENV WS_INSTALL_DIR=${WS_DIR}/install
ENV WS_LOG_DIR=${WS_DIR}/log ENV WS_LOG_DIR=${WS_DIR}/log
WORKDIR ${WS_DIR} WORKDIR ${WS_DIR}
COPY config.yaml ${WS_DIR}/
### Install Gazebo ### Install Gazebo
ARG IGNITION_VERSION=fortress ARG IGNITION_VERSION=fortress
ENV IGNITION_VERSION=${IGNITION_VERSION} ENV IGNITION_VERSION=${IGNITION_VERSION}

8
README.md
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@@ -79,22 +79,22 @@ AxidrawController draws on the axidraw robot.
Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0. Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0.
Try a different serial port if the axidraw_controller continuously logs a message about failing to connect. Try a different serial port if the axidraw_controller continuously logs a message about failing to connect.
``` sh ``` sh
ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml
``` ```
This starts the simulated lite6 This starts the simulated lite6
``` sh ``` sh
ros2 launch lite6_controller lite6_gazebo.launch.py ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml
``` ```
This runs the real lite6 This runs the real lite6
``` sh ``` sh
ros2 launch lite6_controller lite6_real.launch.py ros2 launch lite6_controller lite6_real.launch.py config:=./config.yaml
``` ```
This runs the real lite6 without Rviz (can be run on headless device over ssh) 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 config:=./config.yaml
``` ```
### DrawingController ### DrawingController