From 2d111913c1b1355745a0f73072022d5c00913b1d Mon Sep 17 00:00:00 2001 From: Aaron Edsinger Date: Tue, 2 Mar 2021 10:39:09 -0800 Subject: [PATCH] update tool xacro docs --- stretch_description/README.md | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/stretch_description/README.md b/stretch_description/README.md index ce7d898..13c5911 100644 --- a/stretch_description/README.md +++ b/stretch_description/README.md @@ -35,22 +35,26 @@ Some of the tools found in the [Stretch Body Tool Share](https://github.com/hell ```bash >>$ cd ~/repos >>$ git clone https://github.com/hello-robot/stretch_tool_share ->>$ cd stretch_tool_share +>>$ cd stretch_tool_share/ >>$ cp stretch_description/urdf/* ~/catkin_ws/src/stretch_ros/stretch_description/urdf/ >>$ cp stretch_description/meshes/* ~/catkin_ws/src/stretch_ros/stretch_description/meshes/ ``` -Next add the xacro for the particular tool to /stretch_description/urdf/stretch_description.xacro. Then you can generate and preview the uncalibrated URDF: +Next add the xacro for the particular tool to `/stretch_description/urdf/stretch_description.xacro`. Then you can generate and preview the uncalibrated URDF: -``` ->>$ rosrun stretch_calibration update_uncalibrated_urdf.sh +```bash >>$ cd ~/catkin_ws/src/stretch_ros/stretch_description/urdf >>$ cp stretch.urdf stretch.urdf.bak ->>$ cp stretch_uncalibrated.urdf stretch.urdf +>>$ rosrun stretch_calibration update_urdf_after_xacro_change.sh +``` + +Now visualize the new tool + +```bash >>$ roslaunch stretch_calibration simple_test_head_calibration.launch ``` -You will then want to calibrate your URDF as described in the [URDF calibration](https://github.com/hello-robot/stretch_ros/tree/master/stretch_calibration) documentation. + ## License and Patents