Added docs

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

husarion_ugv_description/CONFIGURATION.md

@@ -0,0 +1,69 @@
+# husarion_ugv_description
+
+## URDF - Robot Model Configuration
+
+### Configure Components
+
+Create `components.yaml` file with the desired components. Here's a sample configuration:
+
+```yaml
+components:
+  - type: MAN02
+    parent_link: cover_link
+    xyz: 0.2 -0.2 0.0
+    rpy: 0.0 0.0 0.0
+    device_namespace: ur5
+```
+
+In this example:
+    - `type`: MAN02: Specifies the component type.
+    - `parent_link`: cover_link: Defines the parent link to attach the component.
+    - `xyz`: 0.2 -0.2 0.0: Sets the position of the component.
+    - `rpy`: 0.0 0.0 0.0: Sets the rotation of the component.
+    - `device_namespace`: ur5: Sets the device namespace.
+
+### Visualize Robot Model Configuration
+
+To use the `ros2 launch` command to launch the `visualize_fake_robot.launch.py` file with a specified robot model and components configuration path, follow these steps:
+
+1. Open a terminal.
+2. Source build workspace.
+3. Execute the following command:
+
+```bash
+ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher:=true components_config_path:=$(pwd)/components.yaml
+```
+
+If you want to move the wheels or move the manipulator you can run the launch file with `joint_state_publisher_gui`:
+
+```bash
+ros2 launch husarion_ugv_description visualize_fake_robot.launch.py robot_model:=lynx use_joint_state_publisher_gui:=true components_config_path:=$(pwd)/components.yaml
+```
+
+### Overwrite Robot Model Configuration
+
+To change the configuration let's add another manipulator to `components.yaml`:
+
+```yaml
+components:
+  - type: MAN02
+    parent_link: cover_link
+    xyz: 0.2 -0.2 0.0
+    rpy: 0.0 0.0 0.0
+    device_namespace: left_ur5
+  - type: MAN02
+    parent_link: cover_link
+    xyz: 0.2 0.2 0.0
+    rpy: 0.0 0.0 0.0
+    device_namespace: right_ur5
+```
+
+To use the `ros2 launch` command to launch the `overwrite_robot_description.launch.py` file with the appropriate arguments to overwrite the robot model, follow these steps:
+
+1. Open a terminal.
+2. Source workspace.
+3. Execute the following command:
+
+```bash
+ros2 launch husarion_ugv_description overwrite_robot_description.launch.py robot_model:=lynx components_config_path:=$(pwd)/components.yaml
+```

husarion_ugv_description/launch/visualize_fake_robot.launch.py

@@ -75,7 +75,7 @@ def generate_launch_description():
     use_joint_state_publisher = LaunchConfiguration("use_joint_state_publisher")
     declare_use_joint_state_publisher_arg = DeclareLaunchArgument(
         "use_joint_state_publisher",
-        default_value="True",
+        default_value="False",
         description="Flag enabling joint_state_publisher to publish information about joints positions. Should be false when there is a controller that sends this information.",
         choices=["True", "true", "False", "false"],
     )