Merge branch 'main' of https://github.com/stooppas/niryo_one_ros2

README.md

@@ -1,2 +1,23 @@
-# niryo_one_ros2
-Niryo One ROS2 Port 
+# Niryo One Ros2 
+**IMPORTANT: This is not an official Niryo One ROS2 port!**
+
+However, this provides a fully functional ROS2 Stack for the Niryo One, although only the core functions have been ported. Feel free to contribute more.
+
+This port added a few features, including:
+- Full namespacing support
+- Gripper controller (At the moment, command_interface is disabled)
+
+## Install
+Clone the repository and build with ```colcon build```
+
+## Usage
+Start the driver with ```ros2 launch niryo_one_bringup start_sim.launch.py``` for simulation or ```ros2 launch niryo_one_bringup start_robot.launch.py``` for the actual robot. Namespace the driver by adding ```ns:=foo``` after the last argument 
+
+
+Currently, the User interface has not been ported, so the calibration and learning mode have to be called manually with the ROS2 service CLI.
+- ```ros2 service call /niryo_one/calibrate_motors niryo_one_msgs/srv/SetInt "{value : 1}"```
+- ```ros2 service call /niryo_one/activate_learning_mode niryo_one_msgs/srv/SetInt "{value : 0}"``` (0 = disable)
+
+## Known Issues
+- niryo_one_tools services not yet fully functional
+- Gripper joint_state reading is off