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* update_readme

* tfの表示

* 誤字修正
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@Kuwamai
Kuwamai authored Nov 10, 2023
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25 changes: 15 additions & 10 deletions README.en.md
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# sciurus17_description

[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=main)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml)
[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml)

ROS package with URDF description macro for [Sciurus17](https://rt-net.jp/products/sciurus17/).
ROS 2 package with URDF description macro for [Sciurus17](https://rt-net.jp/products/sciurus17/).

This ROS packages was separated from [rt-net/sciurus17_ros](https://github.com/rt-net/sciurus17_ros).

See [rt-net/sciurus17_ros#134](https://github.com/rt-net/sciurus17_ros/issues/134) for details.

## Supported ROS distributions

- Melodic
- Noetic
- Humble

### ROS 1

- [Melodic](https://github.com/rt-net/sciurus17_ros/tree/master)
- [Noetic](https://github.com/rt-net/sciurus17_ros/tree/master)

## Installation

```sh
# Clone sciurus17_description and install dependencies
cd ~/catkin_ws/src
git clone https://github.com/rt-net/sciurus17_description
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ros2 https://github.com/rt-net/sciurus17_description
rosdep install -r -y -i --from-paths .

# Build the package
cd ~/catkin_ws
catkin_make
source devel/setup.bash
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash
```

## How to Use

Display a CRANE-X7 robot model on RViz with the following command:

```sh
roslaunch sciurus17_description display.launch
ros2 launch sciurus17_description display.launch.py
```

![display_launch](https://rt-net.github.io/images/sciurus17/display_launch.png)
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25 changes: 15 additions & 10 deletions README.md
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# sciurus17_description

[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=main)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml)
[![industrial_ci](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/sciurus17_description/actions/workflows/industrial_ci.yml)

[Sciurus17](https://rt-net.jp/products/sciurus17/)のURDFファイルを含むROSパッケージです。
[Sciurus17](https://rt-net.jp/products/sciurus17/)のURDFファイルを含むROS 2パッケージです。

このROSパッケージは[rt-net/sciurus17_ros](https://github.com/rt-net/sciurus17_ros)から分離しました。

詳細は[rt-net/sciurus17_ros#134](https://github.com/rt-net/sciurus17_ros/issues/134)を見てください。

## サポートするROSディストリビューション

- Melodic
- Noetic
- Humble

### ROS 1

- [Melodic](https://github.com/rt-net/sciurus17_ros/tree/master)
- [Noetic](https://github.com/rt-net/sciurus17_ros/tree/master)

## インストール方法

```sh
# 本パッケージをクローンし、依存関係をインストールする
cd ~/catkin_ws/src
git clone https://github.com/rt-net/sciurus17_description
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ros2 https://github.com/rt-net/sciurus17_description
rosdep install -r -y -i --from-paths .

# パッケージをビルドする
cd ~/catkin_ws
catkin_make
source devel/setup.bash
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash
```

## 使用方法

次のコマンドを実行するとRViz上にSciurus17のモデルが表示されます

```sh
roslaunch sciurus17_description display.launch
ros2 launch sciurus17_description display.launch.py
```

![display_launch](https://rt-net.github.io/images/sciurus17/display_launch.png)
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112 changes: 111 additions & 1 deletion launch/display.rviz
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Expand Up @@ -216,6 +216,116 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
body_link:
Value: true
chest_camera_link:
Value: true
dummy_mimic_fix_l:
Value: true
dummy_mimic_fix_r:
Value: true
head_camera_link:
Value: true
l_gripperA_link:
Value: true
l_gripperB_link:
Value: true
l_link1:
Value: true
l_link2:
Value: true
l_link3:
Value: true
l_link4:
Value: true
l_link5:
Value: true
l_link5_armarker:
Value: true
l_link6:
Value: true
l_link7:
Value: true
neck_pitch_link:
Value: true
neck_yaw_link:
Value: true
r_gripperA_link:
Value: true
r_gripperB_link:
Value: true
r_link1:
Value: true
r_link2:
Value: true
r_link3:
Value: true
r_link4:
Value: true
r_link5:
Value: true
r_link5_armarker:
Value: true
r_link6:
Value: true
r_link7:
Value: true
world:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
base_link:
body_link:
chest_camera_link:
{}
l_link1:
l_link2:
l_link3:
l_link4:
l_link5:
l_link5_armarker:
{}
l_link6:
l_link7:
l_gripperA_link:
{}
l_gripperB_link:
{}
neck_yaw_link:
neck_pitch_link:
head_camera_link:
{}
r_link1:
r_link2:
r_link3:
r_link4:
r_link5:
r_link5_armarker:
{}
r_link6:
r_link7:
r_gripperA_link:
{}
r_gripperB_link:
{}
dummy_mimic_fix_l:
{}
dummy_mimic_fix_r:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
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Focal Point:
X: 0
Y: 0
Z: 0
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
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