From bf8874054ad999ad2052295a4617e9fb5dfd3935 Mon Sep 17 00:00:00 2001
From: jenniferdavid <jenniferdavid87@gmail.com>
Date: Fri, 16 Nov 2018 18:01:33 +0100
Subject: [PATCH] Update Readme.md
---
Readme.md | 18 ++++++++++++++++--
1 file changed, 16 insertions(+), 2 deletions(-)
diff --git a/Readme.md b/Readme.md
index 462c63c..6d19fe0 100644
--- a/Readme.md
+++ b/Readme.md
@@ -45,19 +45,30 @@ Make sure there is no error in this launch. You can then close terminate the ter
Clone the repository as to your home: `git clone https://github.com/CPS2018/Simulation_F651.git`
1. Open a terminal and type `printenv | grep GAZEBO`
2. Two or more paths should be displayed:
- ```GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models```
- ```GAZEBO_PLUGIN_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/Build``` (Gazebo gets it's models in this case from two paths which are told apart by the `:` sign.)
+ `GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models`
+
+ `GAZEBO_PLUGIN_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/Build` (Gazebo gets it's models in this case from two paths which are told apart by the `:` sign.)
+
3. Add the file `gripper_plugin.cc` in the folder one step up from your `GAZEBO_PLUGIN_PATH`. In this case, it would be `/home/user/src/Firmware/Tools/sitl_gazebo/src`
4. Add the following lines under plugins to the `CMakeLists.txt` file located at `/home/user/src/Firmware/Tools/sitl_gazebo/src`
`find_package(roscpp REQUIRED)`
+
`find_package(std_msgs REQUIRED)`
+
`include_directories(${roscpp_INCLUDE_DIRS})`
+
`include_directories(${std_msgs_INCLUDE_DIRS}) `
+
`find_package(gazebo REQUIRED)`
+
`include_directories(${GAZEBO_INCLUDE_DIRS})`
+
`link_directories(${GAZEBO_LIBRARY_DIRS})`
+
`set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")`
+
`add_library(gripper_plugin SHARED src/gripper_plugin.cc)`
+
`target_link_libraries(gripper_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})`
5. Open a terminal and type the following:
@@ -73,10 +84,13 @@ Clone the repository as to your home: `git clone https://github.com/CPS2018/Simu
`sudo nano ~/.bashrc`
10. In your bashrc, add the following line along with your GAZEBO_MODEL_PATH:
`:/home/user/catkin_ws/src/simulation_control/src/models`
+
For example if it looks like this:
`export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models`
+
After editing it should look like this:
`export GAZEBO_MODEL_PATH=:/home/user/src/Firmware/Tools/sitl_gazebo/models:/home/user/catkin_ws/src/simulation_control/src/models`
+
11. Add the file `f550_amazing` to `/home/user/src/Firmware/posix-configs/SITL/init/lpe`
# Running the Simulation #
--
GitLab