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Rescue arena #58

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172d45b
added git lfs to readme
olivertiessen Apr 10, 2026
db2b682
updated readme with git lfs and kinova
olivertiessen Apr 10, 2026
99953d2
typo
olivertiessen Apr 10, 2026
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30 changes: 25 additions & 5 deletions README.md
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Expand Up @@ -16,7 +16,13 @@ The world contains apriltags, a red line to test lane follower and objects for m

## Install

1. Install ROS2 Development tools and initialise and update rosdep:
1. Install Git LFS and initialise it:
```
sudo apt install -y git-lfs
git lfs install
```

2. Install ROS2 Development tools and initialise and update rosdep:
```
sudo apt install -y ros-dev-tools
```
Expand All @@ -26,22 +32,36 @@ The world contains apriltags, a red line to test lane follower and objects for m
rosdep update
```

2. Create a new ROS2 workspace:
3. Create a new ROS2 workspace:
```
export COLCON_WS=~/ros2_ws
mkdir -p $COLCON_WS/src
```

3. Pull relevant packages, install dependencies, compile, and source the workspace by using:
4. Pull relevant packages, install dependencies, compile, and source the workspace by using:
```
cd $COLCON_WS
git clone https://github.com/MASKOR/webots_ros2_spot src/webots_ros2_spot
git clone https://github.com/MASKOR/webots_ros2_spot -b rescue_arena src/webots_ros2_spot
cd src/webots_ros2_spot && git lfs pull && cd $COLCON_WS
rosdep install --ignore-src --from-paths src -y -r
vcs import --recursive src --skip-existing --input src/webots_ros2_spot/webots_ros2_spot.repos
chmod +x src/webots_ros2/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
```

4. Build packages and source the workspace
5. Install additional dependencies:
```
sudo apt install ros-humble-kortex-description ros-humble-robotiq-description ros-humble-gripper-controllers
```

6. Add missing Meshes (yes, even though you installed it above)

Copy the `2f_140` folder from the robotiq_description meshes into the workspace:
```
cp -r /opt/ros/humble/share/robotiq_description/meshes/visual/2f_140 src/webots_ros2_spot/meshes/visual/
cp -r /opt/ros/humble/share/robotiq_description/meshes/collision/2f_140 src/webots_ros2_spot/meshes/collision/
```

7. Build packages and source the workspace
```
colcon build --symlink-install
source install/setup.bash
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