Add minimal pick-and-place case with world embedded

README.md

@@ -21,15 +21,22 @@ These are the primary dependencies required to use this project.
 
 
 Prepare workspace & install dependencies (So far only tested with UR robot arm)
-```
+```bash
 mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
 git clone https://gitlab.com/robosphere/robossembler-ros2
 vcs import . < robossembler-ros2/rbs.repos
 cd ..
 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
-colcon build
+colcon build --merge-install --symlink-install # args are optional
 ```
 
+### Set Gazebo enviroment variables
+Replace `[WS_FOLDER]` with your workspace folder
+```bash
+echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/robossembler_ws/install/share/rbs_simulation:~/robossembler_ws/install/share" >> ~/.bashrc
+```
+
+
 ### Examples
 Add source to environment
 ```
@@ -40,12 +47,12 @@ Launch MoveIt2, Gazebo, RViz
 ```bash
 ros2 launch rbs_simulation rbs_simulation.launch.py
 ```
-#### Launch bt_tree
+#### Launch bt_tree (TBD)
 
 It will execute `bt_tree` once from file `rbs_bt_executor/bt_trees/test_tree.xml`
 
 ```
-ros2 launch rbs_executor rbs_executor.launch.py
+ros2 launch rbs_bt_executor rbs_executor.launch.py
 ```
 
 The robot arm should move to the point from config file in path