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Update README.md
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hyunseok-yang committed Jan 27, 2021
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Expand Up @@ -36,38 +36,36 @@ check here [details](https://github.com/lge-ros2/cloisim_ros/tree/foxy/cloisim_r

strongly recommend to use this method.

#### Turn on single Mode
#### Turn off single mode(=multi robot mode)

will NOT apply namespace for robot and the number of robot must BE single in world environment.
apply namespace for each robot)

```shell
ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=True
```
ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=False

#### Turn off single mode
ros2 run cloisim_ros_bringup cloisim_ros_bringup
```

apply namespace for each robot)
or

```shell
ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=False
ros2 launch cloisim_ros_bringup bringup.launch.py

ros2 run cloisim_ros_bringup cloisim_ros_bringup
ros2 launch cloisim_ros_bringup bringup.launch.py singlemode:=False
```

### launch cloisim_ros for robot
#### Turn on single Mode

will be deprecated.
will NOT apply namespace for robot and the number of robot must BE single in world environment.

```shell
ros2 launch cloisim_ros_bringup robot.launch.py robot_name:=cloi
ros2 run cloisim_ros_bringup cloisim_ros_bringup --ros-args -p singlemode:=True
```

### launch factory (elevator system and world)

will be deprecated.
or

```shell
ros2 launch cloisim_ros_bringup factory.launch.py
ros2 launch cloisim_ros_bringup bringup.launch.py singlemode:=True
```

### How to run cloisim_ros with CLOiSim together
Expand All @@ -78,15 +76,9 @@ ros2 launch cloisim_ros_bringup factory.launch.py
ros2 launch cloisim_ros_bringup cloisim.launch.py sim_path:=/opt/CLOiSim/CLOiSim-1.10.0 world:=lg_seocho.world
```

#### simulator + cloisim_ros package(clock topic)

```shell
ros2 launch cloisim_ros_bringup cloisim_and_factory.launch.py sim_path:=/opt/CLOiSim/CLOiSim-1.10.0 world:=lg_seocho.world
```

## Using Docker

Run below command after clone this repository(this branch). Only support 'ros2 run'
Run below command after clone this repository(this branch). Only support 'ros2 run'

### Build Docker image

Expand All @@ -99,15 +91,15 @@ docker build -t cloisim_ros .
### Running container

```shell
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros

docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros --ros-args -p singlemode:=False
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros singlemode:=False
```

or

```shell
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros --ros-args -p singlemode:=True
docker run -it --rm --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID cloisim_ros singlemode:=True
```

## Version info
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