search

MROS-RobMoSys-ITP / Pilot-URJC

7 stars 4 forks source link

Adding documentation #6

Closed fmrico closed 4 years ago

fmrico commented 4 years ago

Hi @lbajo @jginesclavero

I have added some documentation, as requested @chcorbato in #4 .

Please, review this PR if I should modify anything. You should also make changes to be consistent with this. For example, @lbajo, maybe you should adjust the content of pilot_modes.yaml.

Best

Signed-off-by: Francisco Martin Rico fmartin@gsyc.urjc.es

jginesclavero commented 4 years ago

Hi @fmrico! LGTM for now, I think that this README must contain how to launch the Pilot or how to use the .repos file. It's very helpful that you had added a chart. Thank you!

jginesclavero commented 4 years ago

Launching bt_modes_navigator demo.

Launch gazebo sim and nav2 system (gazebo headless mode ON) -- ros2 launch nav2_bringup nav2_tb3_system_modes_sim_launch.py

Run ros2 run system_modes mode-manager [path]/nav2_modes.yaml (nav2_modes example in nav2_bt_modes_navigator/system_modes/nav2_modes.yaml) to able the change of nav2 modes.

Finally call the service to change the mode -- ros2 service call [/node]/change_mode system_modes/ChangeMode "{node_name: 'node_name', mode_name: 'MODE_NAME'}" -- (example ros2 service call /bt_navigator/change_mode system_modes/ChangeMode "{node_name: 'navigation2', mode_name: 'BATTERY_CONTINGENCY'}")

fmrico commented 4 years ago

Hi @jginesclavero

Check out how I integrated your instructions. As soon as you review it and it is ok, merge it so anyone could add the remaining instructions (for real robots, for example)