Merge pull request #33 from PickNikRobotics/livanov/update_readme

Improve README for testing purposes

Author: livanov93

README.md

@@ -2,10 +2,27 @@
 
 Alpha version of the ROS2 Universal Robots driver. Should be transferred to the Universal Robots org when ready.
 
+## Requirements
+
+Follow the [instructions](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#setting-up-a-ur-robot-for-ur_robot_driver) in the paragraph 
+[`Prepare the robot` ](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#prepare-the-robot)
+
 ## Build Instructions
 
-To build this package in a ROS Foxy workspace, clone this repo
-into the `src/` directory, then:
+To build this package follow the [instructions](https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/) for installation of ROS2.
+
+After installation create a ROS Foxy workspace:
+```
+cd $HOME
+mkdir -p ws_driver/src
+cd ws_driver
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+```
+
+Clone this repo into the `src/` directory, then:
 
 ```
 # Clone source-based dependencies into src/ directory
@@ -18,3 +35,44 @@ rosdep install -y --rosdistro $ROS_DISTRO --ignore-src --from-paths src
 source /opt/ros/$ROS_DISTRO/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
+Source the workspace:
+
+```
+cd ~/ws_driver
+source install/setup.bash
+```
+
+Start the driver:
+
+```
+ros2 launch ur_ros2_control_demos ur5_3_system_position_only.launch.py
+```
+
+Start the `joint_state_controller`:
+
+```
+ros2 control load_start_controller joint_state_controller
+```
+
+Start the `forward_command_controller`:
+
+```
+ros2 control load_start_controller forward_command_controller_position
+```
+
+## TODO Run a test node (TBD)
+Run a test node which will publish joint commands on /forward_command_controller_position/commands (std_msgs::msg::Float64MultiArray)
+after checking the current joint states (to create minimal increment for safety)
+
+USE WITH CAUTION!!!
+Other option is to publish commands directly. In this case make sure the published command will not take your
+robot in collision with environment/people.
+```
+ros2 topic pub /forward_command_controller_position/commands std_msgs/msg/Float64MultiArray "data: 
+- 0.0                                                               
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.01"
+```