Refine dual-arm docs structure and customization guide

Author: kenichi-maeda

lbr_demos/doc/lbr_demos.rst

@@ -29,11 +29,17 @@ MoveIt
 .. toctree::
     :titlesonly:
 
-    lbr_dual_arm <../lbr_dual_arm/doc/lbr_dual_arm.rst>
-    lbr_dual_arm_description <../lbr_dual_arm_description/doc/lbr_dual_arm_description.rst>
     lbr_moveit <../lbr_moveit/doc/lbr_moveit.rst>
     lbr_moveit_cpp <../lbr_moveit_cpp/doc/lbr_moveit_cpp.rst>
 
+Dual Arm
+--------
+.. toctree::
+    :titlesonly:
+
+    lbr_dual_arm <../lbr_dual_arm/doc/lbr_dual_arm.rst>
+    lbr_dual_arm_description <../lbr_dual_arm_description/doc/lbr_dual_arm_description.rst>
+
 Integration
 -----------
 TODO system integration demos

lbr_demos/lbr_dual_arm_description/doc/lbr_dual_arm_description.rst

@@ -1,85 +1,29 @@
 lbr_dual_arm_description
 ========================
-This demo gives a walk through on using the ``lbr_description`` to generate a custom robot description. In this case, we will be investigating a dual-arm setup.
 
 .. contents:: Table of Contents
    :depth: 2
    :local:
    :backlinks: none
 
-Creating the Dual-arm Robot Description
----------------------------------------
-#. Create a dual-arm robot description:
+Customize Robot Placement
+-------------------------
+#. Open ``urdf/lbr_dual_arm.xacro``.
+#. Adjust the fixed joint origins:
 
-.. code-block:: bash
+    - ``lbr_one_base_joint``
+    - ``lbr_two_base_joint``
 
-    touch urdf/lbr_dual_arm.xacro
+#. Typical changes are:
 
-#. Fill it with the following contents (note that `xacro <https://github.com/ros/xacro/tree/ros2>`_:octicon:`link-external` is used):
+    - Increase/decrease spacing between both arms via ``xyz``.
+    - Rotate one arm around the base frame via ``rpy``.
 
-.. code-block:: XML
+Customize Hardware Network Settings
+-----------------------------------
+#. Open ``ros2_control/lbr_one_system_config.yaml`` and ``ros2_control/lbr_two_system_config.yaml``.
+#. Set unique ``port_id`` values for each arm.
+#. Set ``remote_host`` per arm according to your network setup.
 
-    <?xml version="1.0"?>
-
-    <robot name="lbr_dual_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
-        <!-- include the lbr iiwa macro -->
-        <xacro:include filename="$(find lbr_description)/urdf/iiwa7/iiwa7_description.xacro" />
-
-        <!-- add an arguent to allow for mock / hardware / gazebo -->
-        <xacro:arg name="mode" default="mock" />
-
-        <!-- add a base / floating link -->
-        <link name="base_link" />
-
-        <!-- add robot 1 via macro, note that different lbr_one_system_config.yaml are used (to
-        configure port id) -->
-        <xacro:iiwa7
-            robot_name="lbr_one"
-            mode="$(arg mode)"
-            system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_one_system_config.yaml" />
-
-        <!-- add robot 2 via macro -->
-        <xacro:iiwa7
-            robot_name="lbr_two"
-            mode="$(arg mode)"
-            system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_two_system_config.yaml" />
-    </robot>
-
-#. Create the ROS 2 Control configuration files:
-
-    #. Create a configurations file for the controller manager and respective controllers:
-
-        
-
-    #. FRI system configurations (only necessary when hardware is used):
-
-        .. code-block:: bash
-
-            cp `ros2 pkg prefix lbr_description`/share/lbr_description/ros2_control/lbr_system_config.yaml ros2_control/lbr_one_system_config.yaml && \
-            cp `ros2 pkg prefix lbr_description`/share/lbr_description/ros2_control/lbr_system_config.yaml ros2_control/lbr_two_system_config.yaml
-
-#. Open ``lbr_two_system_config.yaml``:
-
-    #. Change ``port_id`` to ``30201`` (or as desired, but different from ``lbr_one_system_config.yaml``)
-    #. Update ``estimated_ft_sensor`` frames:
-
-        .. code-black:: yaml
-
-            chain_root: lbr_one_link_0 # and lbr_two_link_0 respectively
-            chain_tip: lbr_one_link_ee # and lbr_two_link_0 respectively
-
-#. Add the following to the ``CMakeLists.txt``:
-
-    .. code-block:: cmake
-
-        install(DIRECTORY ros2_control urdf
-            DESTINATION share/${PROJECT_NAME}
-        )
-
-
-
-.. #. Build the package in your workspace:
-
-..     .. code-block:: bash
-
-..         colcon build --packages-select lbr_dual_arm_description --symlink-install
+.. note::
+    ``port_id`` must be different for both arms.