robossembler/runtime
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Added info about Gazebo

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Igor Brylyov 2022-01-20 00:18:03 +03:00
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@ -13,6 +13,7 @@ These are the primary dependencies required to use this project.
* ROS 2 Foxy * ROS 2 Foxy
* MoveIt 2 * MoveIt 2
> Install/build a version based on the selected ROS 2 release > Install/build a version based on the selected ROS 2 release
* Gazebo
### Build ### Build
@ -43,6 +44,12 @@ Add source to environment
``` ```
source install/setup.bash source install/setup.bash
``` ```
Add robot model to Gazebo models directory
```
cp ~/robossembler_ws/src/robossembler-ros2/rasmt_support/ ~/.gazebo/models/
```
Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from `pddl/domain.pddl` Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from `pddl/domain.pddl`
```bash ```bash
ros2 launch robossembler robossembler_bringup.launch.py ros2 launch robossembler robossembler_bringup.launch.py