From 2ce4876c755be86e948e084b1e909b8cbb4c50c8 Mon Sep 17 00:00:00 2001 From: Rafael Papallas Date: Thu, 25 Jan 2018 18:37:14 +0000 Subject: [PATCH] Added some useful installation instructions. --- README.md | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 2fd5383..d402ec4 100644 --- a/README.md +++ b/README.md @@ -24,10 +24,25 @@ Catkin workspace. It requires the helper package [`openrave_catkin`](https://github.com/personalrobotics/openrave_catkin) to be automatically added to the `OPENRAVE_PLUGIN` path. -You can try running `rosrun or_rviz test.py` to test your -installation. This script loads the `wamtest1.env.xml` environment, which is -one of the default environments shipped with OpenRAVE, into the `RViz` -in-process viewer. +### Installation step-by-step +- Download [`openrave_catkin`](https://github.com/personalrobotics/openrave_catkin) in your `catkin_ws/src`. +- Download `or_rviz` from this repository in your `catkin_ws/src`. +- Run `catkin_make` within your `catkin_ws` directory. +- At the end of the make process you should get an output similar to the one below: +``` +Linking CXX shared library /home/rafael/catkin_ws/devel/share/openrave-0.9/plugins/or_rviz_plugin.so +[100%] Built target or_rviz_plugin +``` +- Take the important path `/home/rafael/catkin_ws/devel/share/openrave-0.9/plugins/or_rviz_plugin.so` (note that this is an example path, your should be different) and paste it into your `~/.bashrc` file as a new line as such: +``` +export OPENRAVE_PLUGINS=$OPENRAVE_PLUGINS:~/catkin_ws/devel/share/openrave-0.9/plugins +``` +- Source your `bashrc` for the changes to take effect by running: `source ~/.bashrc`. + +## Testing that the installation was successful +One way is to check that the `RViz` viewer appears in your OpenRAVE plugin list. Run `openrave --listplugins` and verify that `RViz` appears under `viewer` section. + +You can also try running `rosrun or_rviz test.py` to test your installation. This script loads the `wamtest1.env.xml` environment, which is one of the default environments shipped with OpenRAVE, into the `RViz` in-process viewer. ## Usage: Out-of-Process Viewer ##