Merge pull request #569 from Naoki-Hiraoka/fix-readme

fix readme.md

README.md

@@ -4,32 +4,37 @@ rtmros_tutorials  [![Build Status](https://travis-ci.org/start-jsk/rtmros_tutori
 Tutorials for rtmros packages
 
 ### Install
+
+Please refer [rtmros_common] for installing these packages.
+
+If you use closed models, you have to compile `hrpsys_ros_bridge_tutorials` after you download `jsk_models` or `hrp2_models`. If you compiled `hrpsys_ros_bridge_tutorials` before you download `jsk_models` or `hrp2_models`, you have to compile `hrpsys_ros_bridge_tutorials` again with `--force-cmake` option after you download `jsk_models` or `hrp2_models`.
+
+**NOTE** If you use `melodic` distribution, you have to compile `hrpsys_ros_bridge_tutorials` after you install `ros-melodic-collada-urdf-jsk-patch`, which is automatically installed with `rosdep install` for `hrpsys_ros_bridge_tutorials`.
+
+### Try Sample
+#### SampleRobot
+Open Terminal and run gazebo
+
+```
+roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch
+```
+Launch another terminal and start hrpsys-base
 ```
-# download source
-mkdir -p ~/ros/ws_rtmros_tutorials/src
-cd ~/ros/ws_rtmros_tutorials/src
-wstool init
-wstool set rtm-ros-robotics/rtmros_tutorials https://github.com/start-jsk/rtmros_tutorials.git --git -y
-wstool update
-source /opt/ros/hydro/setup.bash
-# install depend package
-sudo apt-get install python-rosdep
-sudo rosdep init
-rosdep update
-cd ~/ros/ws_rtmros_tutorials/src/rtm-ros-robotics/rtmros_tutorials
-curl -sSl https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/rosdep-install.sh | bash
-# compile
-cd ~/ros/ws_rtmros_tutorials/
-catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials
-source ~/ros/ws_rtmros_tutorials/devel/setup.bash # this line is necessary for bug, need to be fixed.
-catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials --force-cmake # this line is necessary for bug, need to be fixed.
-catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials --force-cmake # this line is necessary for bug, need to be fixed.
-# add setting
-echo "source ~/ros/ws_rtmros_tutorials/devel/setup.bash" >> ~/.bashrc
-echo "source \`rospack find hrpsys_gazebo_tutorials\`/setup.sh" >> ~/.bashrc
+rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch
+```
+Launch another terminal and send command to robot by roseus
+```
+roscd hrpsys_ros_bridge_tutorials/euslisp/
+roseus samplerobot-interface.l
+(samplerobot-init)
+(send *ri* :angle-vector (send *sr* :reset-pose) 1000)
+(send *ri* :start-auto-balancer)
+(send *ri* :start-st)
+(send *ri* :go-pos 0 0 0)
 ```
 
-### Try Sample
+#### HRP2
+`rtmros_hrp2`(private) is needed.
 Open Terminal and run gazebo
 
 ```
@@ -45,15 +50,30 @@ roscd hrpsys_ros_bridge_tutorials/euslisp/
 roseus hrp2jsknt-interface.l
 (hrp2jsknt-init)
 (send *ri* :angle-vector (send *hrp2jsknt* :reset-pose) 1000)
+(send *ri* :start-auto-balancer)
+(send *ri* :start-st)
 (send *ri* :go-pos 0 0 0)
 ```
 
 
 ### Package Description
 
-hrpsys_ros_bridge_tutorialsls
+### [hrpsys_ros_bridge_tutorials]
 --------------
-This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://github.com/start-jsk/rtmros_common). 
+This is examples and tutorials for [rtmros_common/hrpsys_ros_bridge](https://github.com/start-jsk/rtmros_common).
 
 Euslisp tutorial wiki is written in [ROS wiki](http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp).
 
+- You should prepare robot model file (no additional operation is required for `SampleRobot`, downloading `hrp2_models`(private) is required for `HRP2`). Supported types of model file are collada(openrave) and VRML(openhrp3). URDF and OpenRAVE xml can be used by converting to collada.
+    - *<robot_name>*.yaml for configurating URDF setting, gazebo setting and euslisp setting
+    - (automatically generated) *<robot_name>*.urdf under models directory
+    - (automatically generated) hrpsys settings (you should have a collada or VRML robot model file)
+
+### [hrpsys_gazebo_tutorials]
+
+This package is a collection of examples for using hrpsys_gazebo system and utility scripts.
+Please see README in that package for further information.
+
+[rtmros_common]:https://github.com/start-jsk/rtmros_common
+[hrpsys_gazebo_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_gazebo_tutorials
+[hrpsys_ros_bridge_tutorials]:https://github.com/start-jsk/rtmros_tutorials/tree/master/hrpsys_ros_bridge_tutorials