Address review comments

Signed-off-by: Gerardo Puga <glpuga@gmail.com>

Author: glpuga

ar4_gazebo_bringup/README.md

@@ -0,0 +1,21 @@
+# Description
+
+Bringup package for the AR4 software stack on the Gazebo simulator.
+
+```bash
+colcon build --packages-up-to ar4_gazebo_bringup
+. install/setup.bash
+```
+
+To run the simulation, source and run:
+
+```bash
+ros2 launch ar4_gazebo_bringup main.launch.py
+```
+
+#### Launch file arguments
+
+- 'rsp':
+    - Run [`robot state publisher`](https://github.com/ros/robot_state_publisher) node. (default: 'false')
+- 'rviz':
+    - Start RViz. (default: 'false')

ar4_gazebo_sim/README.md

@@ -97,7 +97,7 @@ def generate_launch_description():
         output="screen",
     )
 
-    # this nodes is launched with the HAL-specific nodes because we need to load
+    # this node is launched with the HAL-specific nodes because we need to load
     # the simulation specific version
     robot_state_publisher_node = Node(
         package="robot_state_publisher",

ar4_gazebo_sim/launch/main.launch.py

@@ -10,9 +10,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>ar4_moveit_config</exec_depend>
   <exec_depend>controller_manager</exec_depend>
-  <exec_depend>topic_based_ros2_control</exec_depend>
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>topic_based_ros2_control</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

ar4_isaac/package.xml

@@ -1,12 +1,23 @@
 # Description
 
-This package contains the simulation of the AR4 robot in Mujoco.
+Bringup package for the AR4 software stack on the MuJoCo simulator. To build the package, run
 
-## Instructions to import the model
+```bash
+colcon build --packages-up-to ar4_mujoco_bringup
+. install/setup.bash
+```
 
-The Mujoco model of the AR4 robot can be imported from the URDF description in the `ar4_description` package. The process requires running the two scripts in the `scripts/` folder in sequence.
+To run the simulation, source and run:
+
+```bash
+ros2 launch ar4_mujoco_bringup main.launch.py
+```
+
+## Instructions to update the MuJoCo robot model
+
+The MuJoCo model of the AR4 robot can be imported from the URDF description in the `ar4_description` package. The process requires running the two scripts in the `scripts/` folder in sequence.
 
 1. First run `stage1_create_urdf_from_xacro.sh` from **within** the development container. This script will generate the URDF file from the xacro description.
-1. Then run `stage2_create_mjcf_from_urdf.sh` from **outside** the development container (this script needs to create a new containerized environment running Ubuntu 24.04). This script will generate the Mujoco model from the URDF file.
+1. Then run `stage2_create_mjcf_from_urdf.sh` from **outside** the development container (this script needs to create a new containerized environment running Ubuntu 24.04). This script will generate the MuJoCo model from the URDF file.
 
 At this point you'll see the `urdf/` and `mjcf/` folders in the `ar4_mujoco_sim` package as updated. Commit those changes.

ar4_mujoco_sim/README.md ar4_mujoco_bringup/README.mdar4_mujoco_sim/README.md renamed to ar4_mujoco_bringup/README.md

@@ -28,7 +28,7 @@
 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-"""launch file for integrating Gazebo with MoveIt for the AR4 robot."""
+"""launch file for integrating MuJoCo with MoveIt for the AR4 robot."""
 
 from launch import LaunchDescription
 from launch_ros.actions import SetParameter

ar4_mujoco_bringup/launch/main.launch.py

@@ -2,7 +2,7 @@
 <package format="3">
   <name>ar4_mujoco_bringup</name>
   <version>0.0.1</version>
-  <description>Launch AR4 software against a Mujoco simulation of the robot</description>
+  <description>Launch AR4 software against a MuJoCo simulation of the robot</description>
   <author email="glpuga@ekumenlabs.com">Gerardo Puga</author>
   <maintainer email="glpuga@ekumenlabs.com">Gerardo Puga</maintainer>
   <license file="LICENSE">BSD-3-Clause</license>

ar4_mujoco_bringup/package.xml

@@ -93,7 +93,7 @@ def generate_launch_description():
         ],
     )
 
-    # this nodes is launched with the HAL-specific nodes because we need to load
+    # this node is launched with the HAL-specific nodes because we need to load
     # the simulation specific version
     robot_state_publisher_node = Node(
         package="robot_state_publisher",

ar4_mujoco_sim/launch/main.launch.py

@@ -2,7 +2,7 @@
 <package format="3">
   <name>ar4_mujoco_sim</name>
   <version>0.0.1</version>
-  <description>Launch Mujoco simulation of the AR4</description>
+  <description>Launch MuJoCo simulation of the AR4</description>
   <author email="glpuga@ekumenlabs.com">Gerardo Puga</author>
   <maintainer email="glpuga@ekumenlabs.com">Gerardo Puga</maintainer>
   <license file="LICENSE">BSD-3-Clause</license>

ar4_mujoco_sim/package.xml

@@ -1,13 +1,20 @@
 # Description
-A Gazebo simulation of the AR4 Package.
 
-To build the package, run
-`colcon build`
+Bringup package for the AR4 software stack on the real robot. To build the package, run
 
-To run the simulation, source and run
-`ros2 launch ar4_realbot_bringup ar4_sim.launch.py`
+```bash
+colcon build --packages-up-to ar4_realbot_bringup
+. install/setup.bash
+```
+
+To run the simulation, source and run:
+
+```bash
+ros2 launch ar4_realbot_bringup main.launch.py
+```
 
 #### Launch file arguments
+
 - 'rsp':
     - Run [`robot state publisher`](https://github.com/ros/robot_state_publisher) node. (default: 'false')
 - 'rviz':