From c51dce74e9c124525fd4e3e5f2016ed9a89b5327 Mon Sep 17 00:00:00 2001 From: Igor Brylyov Date: Tue, 20 Feb 2024 12:24:03 +0000 Subject: [PATCH] Add Launch Files Descriptions --- rbs_arm/README.md | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/rbs_arm/README.md b/rbs_arm/README.md index d3298d0..873c900 100644 --- a/rbs_arm/README.md +++ b/rbs_arm/README.md @@ -1,5 +1,16 @@ -# rbs_arm +# Robossembler Arm Description Package -This ROS2 package includes the 'robot_description' of 'rbs_arm'. +This ROS2 package includes the 'robot_description' of 'Robossembler Arm'. The model is given as a xacro file to which any gripper by gripper name can be attached. + +## Launch files Directory + +To get additional argument's description use `ros2 launch rbs_arm <*.launch.py> --show-args`. + +- `control.launch.py` - To launch ros2_control controllers +- `display.launch.py` - To show robot in RViz +- `display_gazebosim.launch.py` - To show robot in RViz & gazebo +- `get_urdf.launch.py` - To generate URDF file and save result as `current.urdf` in current directory +- `moveit.launch.py` - To run MoveIt2 +- `moveit_gazebosim.launch.py` - To run MoveIt2, Gazebo, RViz