Minor docs and launch arg tweaks

Author: eholum-nasa

README.md

@@ -1,16 +1,22 @@
-# `drt_ur_gui`
+# DRT Universal Robots GUI
+
 `drt_ur_gui` is a ROS 2 based user interface written in python that enables remote operation of Universal Robotics collaborative robotic arms.
-- Intended to be used with UR Arms configured for Remote Control
+The key delivered features:
+
 - Enables command of UR Arms with out Polyscope touchscreen pendant interaction
+- Intended to be used with UR Arms configured for Remote Control
 - Useful in operations where Polyscope interaction is difficult or unsafe
 
-
+![alt text](./drt_ur_gui.png "DRT UR GUI")
 
 ## Installation
-Installation of `drt_ur_gui` is similar to most ROS 2 packages.
+
+This package can be installed in any normal `colcon` workspace:
+
 1) Clone `drt_ur_gui` into your workspace `src/` directory
-2) Use rosdep install `drt_ur_gui`'s dependencies
+2) Use rosdep to install `drt_ur_gui`'s dependencies
 3) Build your workspace
+
 ```bash
 cd src/
 git clone git@js-er-code.jsc.nasa.gov:imetro/drt_ur_gui.git
@@ -19,24 +25,37 @@ cd ..
 colcon build
 ```
 
-## Use
-On it's own `drt_ur_gui` is configured to command up to two URs at once using launch files (though it can be used to command more)
-#### One arm use
-- `one_arm.launch.py` is used to run a singular UR arm
-    - `ros2 launch drt_ur_gui one_arm.launch.py`
-    - Configured by `config/one_arm.yaml`
-        - YAML Configured Parameters:
-            - `dashboard_client_name`: name of the UR `dashboard_client` node, must match or UR communication will fail
-            - `program`: sets the default program to be loaded to the UR when `/dashboard_client/load_program` is selected
-            - `window.name`: sets the name that appears in the bar at the top of the UI window
-            - `window.stylesheet`: Qt format stylesheet, enables users to customize the look and feel of the UI
-            - `logo_file_name`: the filepath to the logo to be displayed in the UI window
-#### Two arm use
+## Usage
+
+On its own `drt_ur_gui` is configured to command up to two URs at once using launch files.
+However, more configuration files can be used to command any number of active UR arms.
+
+### One arm use
+
+```bash
+# To connect to a hardware UR dashboard client
+ros2 launch drt_ur_gui one_arm.launch.py
+
+# To launch a simulated client for development and testing
+ros2 launch drt_ur_gui one_arm.launch.py mock_dashboard:=true
+```
+
+- `one_arm.launch.py` is used to run a singular UR arm using the settings in `config/one_arm.yaml`:
+    - `dashboard_client_name`: name of the UR `dashboard_client` node, must match or UR communication will fail
+    - `program`: sets the default program to be loaded to the UR when `/dashboard_client/load_program` is selected
+    - `window.name`: sets the name that appears in the bar at the top of the UI window
+    - `window.stylesheet`: Qt format stylesheet, enables users to customize the look and feel of the UI
+    - `logo_file_name`: the filepath to the logo to be displayed in the UI window
+
+### Dual arm use
+
 - `two_arm.launch.py` is used to run two URs at once, typically in a "humanoid" left-right configuration
     - `ros2 launch drt_ur_gui two_arm.launch.py`
     - Configured by `config/two_arm_left.yaml` and `config/two_arm_right.yaml`
         - Parameters exposed in the two arm configuration files are the same as the one arm configuration parameters explained above
-#### *N* arm use and use with other robots
+
+### *N* arm use and use with other robots
+
 - `drt_ur_gui` can command any number of UR arms in (probably) any robot setup
     - Every `drt_ur_gui` backend node communicates with an arm's respective `dashboard_client` node
     - The UI can be run from the command line without configuration files as long as the correct `dashboard_client` node name is provided as a parameter

drt_ur_gui.png

@@ -31,10 +31,10 @@ def generate_launch_description():
     declared_arguments = []
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "mock_dashboard",
             default_value="false",
             choices=["true", "false"],
-            description="Start robot with simulated hardware mirroring command to its states",
+            description="Launch the mock dashboard node to simulated UR commands and state",
         )
     )
     declared_arguments.append(
@@ -43,14 +43,14 @@ def generate_launch_description():
             default_value="false",
             choices=["true", "false"],
             description="Force service timeouts by adding lag to the 'connect' service in the \
-                            mock Dashboard Client node (only works with use_fake_hardware=true)",
+                            mock Dashboard Client node (only works with mock_dashboard=true)",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument("ns", default_value="", description="Namespace for the hardware robot")
     )
 
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    mock_dashboard = LaunchConfiguration("mock_dashboard")
     connect_lag = LaunchConfiguration("connect_lag")
     ns = LaunchConfiguration("ns")
 
@@ -74,7 +74,7 @@ def generate_launch_description():
                 "connect_lag": connect_lag,
             }
         ],
-        condition=IfCondition(use_fake_hardware),
+        condition=IfCondition(mock_dashboard),
         sigterm_timeout="0",
     )
 

launch/one_arm.launch.py

@@ -30,21 +30,20 @@ def generate_launch_description():
     declared_arguments = []
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "mock_dashboard",
             default_value="false",
             choices=["true", "false"],
-            description="Start robot with simulated hardware mirroring command to its states",
+            description="Launch the mock dashboard node to simulated UR commands and state",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument("ns", default_value="", description="Namespace for the hardware robot")
     )
 
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    mock_dashboard = LaunchConfiguration("mock_dashboard")
     ns = LaunchConfiguration("ns")
 
     config_right = os.path.join(get_package_share_directory("drt_ur_gui"), "config", "two_arm_right.yaml")
-
     config_left = os.path.join(get_package_share_directory("drt_ur_gui"), "config", "two_arm_left.yaml")
 
     right_arm_nodes = [
@@ -63,7 +62,7 @@ def generate_launch_description():
             name="right_dashboard_client",  # must match dashboard_client_name in config/two_arm_right.yaml
             output="screen",
             namespace=ns,
-            condition=IfCondition(use_fake_hardware),
+            condition=IfCondition(mock_dashboard),
             sigterm_timeout="0",
         ),
     ]
@@ -84,7 +83,7 @@ def generate_launch_description():
             name="left_dashboard_client",
             output="screen",
             namespace=ns,
-            condition=IfCondition(use_fake_hardware),
+            condition=IfCondition(mock_dashboard),
             sigterm_timeout="0",
         ),
     ]