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Update build instructions to use upstream binary packages #419

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Jun 28, 2022
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Update build instructions to use upstream binary packages #419

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21 changes: 4 additions & 17 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -143,9 +143,9 @@ The driver is compatible across the entire line of UR robots -- from 3 kg payloa

1. [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) or [Install ROS2 Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html). This branch will support both distributions until API breaking changes are made, at which point a `galactic` branch will be forked. For using this driver with ROS2 `foxy` checkout [foxy branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy).

2. Make sure that `colcon`, its extensions and `vcs` are installed:
2. Make sure that `colcon` and its extensions are installed:
```
sudo apt install python3-colcon-common-extensions python3-vcstool
sudo apt install python3-colcon-common-extensions
```

3. Create a new ROS2 workspace:
Expand All @@ -157,20 +157,7 @@ The driver is compatible across the entire line of UR robots -- from 3 kg payloa
4. Pull relevant packages, install dependencies, compile, and source the workspace by using:
```
cd $COLCON_WS
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.repos
rosdep install --ignore-src --from-paths src -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
```

## Using MoveIt

To use MoveIt some additional packages should be added into workspace:
```
cd $COLCON_WS
vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/MoveIt_Support.repos
vcs import src --skip-existing --input src/moveit2/moveit2.repos
git clone -b foxy https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
rosdep install --ignore-src --from-paths src -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
Expand Down Expand Up @@ -269,7 +256,7 @@ The most relevant arguments are the following:
```
After a few seconds the robot should move (or jump when using emulation).

- To test the driver with the example MoveIt-setup, first start the controllers then start MoveIt. (This requires a `vcs import` of MoveIt packages):
- To test the driver with the example MoveIt-setup, first start the controllers then start MoveIt.
```
ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false

Expand Down