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Move installation instructions to subpage (backport #870) (#884)
* Move installation instructions to subpage (#870)
Apparently, having the build instructions so prominent on the main page
seems to motivate people to build from source instead of installing the
binary packages. This change simplifies the main repo page in order to
show how to install and quickstart directly, linking to the full instructions
from our sphinx doc.
* More explicit copy_paste example
This example should be ready-to-go when using the URSim example.
* Make things equal to main branch
---------
Co-authored-by: Felix Exner (fexner) <[email protected]>
The table above shows the build status for each package of this repo from the [ROS buildfarm](https://build.ros2.org/). For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
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**NOTE**: There are two build stages checking current and future compatibility of the driver.
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1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
A more [detailed build status](ci_status.md) shows the state of all CI workflows inside this repo.
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Please note that the detailed view is intended for developers, while the one here should give end
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users an overview of the current released state.
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## Packages in the Repository:
@@ -105,83 +89,45 @@ Each of these stages also performs integration tests using ursim. In order to ex
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Deprecation: The `ur_bringup` package is deprecated and will be removed from Iron Irwini on.
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## System Requirements
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Please see the [requirements for the Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library#requirements), as this driver is build on top of Universal_Robots_Client_Library.
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## Getting Started
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For getting started, you'll basically need three steps:
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1.**Install the driver** (see below). You can either install this driver from binary packages or build it from source. We recommend a
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binary package installation unless you want to join development and submit changes.
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1.**Install the driver**
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```bash
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sudo apt-get install ros-humble-ur
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```
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See the [installation instructions](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
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2.**Start & Setup the robot**. Once you've installed the driver, [setup the
branch supports only ROS2 Humble. For other ROS2 versions, please see the respective
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branches.
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Once installed, please make sure to actually [source ROS2](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files) before proceeding.
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3. Make sure that `colcon`, its extensions and `vcs` are installed:
4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
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4. Create a new ROS2 workspace:
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```
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export COLCON_WS=~/workspace/ros_ur_driver
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mkdir -p $COLCON_WS/src
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```
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5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
You can either install this driver from binary packages as shown above or build it from source. We
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recommend a binary package installation unless you want to join development and submit changes.
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Install from binary packages
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----------------------------
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1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
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branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
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2. Install the driver using
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.. code-block:: bash
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sudo apt-get install ros-${ROS_DISTRO}-ur
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Build from source
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-----------------
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Before building from source please make sure that you actually need to do that. Building from source
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might require some special treatment, especially when it comes to dependency management.
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Dependencies might change from time to time. Upstream packages (such as the library) might change
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their features / API which require changes in this repo. Therefore, this repo's source builds might
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require upstream repositories to be present in a certain version as otherwise builds might fail.
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Starting from scratch following exactly the steps below should always work, but simply pulling and
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building might fail occasionally.
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1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
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branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
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Once installed, please make sure to actually `source ROS2 <https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`_ before proceeding.
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3. Make sure that ``colcon``, its extensions and ``vcs`` are installed:
![mergify[bot]](https://avatars.githubusercontent.com/in/10562?v=4&size=40){kind=avatar}
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