Rework README.md: build and usage instructions #41
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https://github.com/AndrejOrsula/panda_gz_moveit2/blob/590bd84ad766e3c39986d30cfcf521465bb877fa/README.md is probably the easiest way to check it. The architecture version is pending on a new import that will explain how the inject different plugins in the URDF and how that interacts with the rest of the system |
Option 1: Native InstallationUsage Examples
Shouldn't there be a success on execution? Execution fails and I have below warnings. Option 2: Docker Development (Recommended)Usage Examples
Shouldn't the docker command be more like |
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Author
This somehow seems to like a particular problem at your end, feel free to create an issue about this particular case.
I was able to reproduce this one, hopefully fixed in #42 |
AndrejOrsula
approved these changes
Aug 16, 2025
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| panda_gz_moveit2/ | ||
| ├── 📦 panda/ # Metapackage orchestrating the build | ||
| | | ||
| │ ├── launch/ | ||
| │ │ ├── fake.launch.py # Motion planning with fake controllers | ||
| │ │ └── gz.launch.py # Full Gazebo simulation with physics | ||
| │ └── CMakeLists.txt # Auto-generates URDF/SDF/SRDF from xacros | ||
| │ | ||
| ├── 🤖 panda_description/ # Robot modeling and description | ||
| │ ├── urdf/ | ||
| │ │ ├── panda.urdf.xacro # xacro: main robot description | ||
| │ │ ├── panda_arm.xacro # xacro: arm kinematics and dynamics | ||
| │ │ ├── panda.ros2_control # xacro: ros2_control configuration | ||
| │ │ ├── panda.gazebo # xacro: Gazebo-specific plugins (gz_ros2_control) | ||
| │ │ ├── ... # more xacro files | ||
| │ │ └── panda.urdf # Generated URDF file from xacro | ||
| | | | ||
| | ├── scripts/ # script to transform Xacro to SDF/URDF | ||
| | | | ||
| │ ├── panda/ | ||
| │ │ ├── meshes/ # Visual and collision meshes | ||
| │ │ └── model.sdf # Generated SDF for Gazebo | ||
| │ └── config/ | ||
| │ └── initial_joint_positions.yaml | ||
| │ | ||
| ├── 🎯 panda_moveit_config/ # MoveIt 2 configuration and examples | ||
| │ ├── config/ | ||
| │ │ ├── controllers_*.yaml # ros2_control controller configurations | ||
| │ │ ├── kinematics.yaml # Kinematic solver settings | ||
| │ │ ├── joint_limits.yaml # Safety limits and constraints | ||
| │ │ ├── ompl_planning.yaml # Motion planning algorithms | ||
| │ │ ├── servo.yaml # Real-time servo control | ||
| │ │ └── moveit_controller_manager.yaml | ||
| │ ├── launch/ | ||
| │ │ ├── move_group.launch.py # Core MoveIt 2 setup | ||
| │ │ ├── ex_fake_control.launch.py # Example: Fake controllers | ||
| │ │ └── ex_gz_control.launch.py # Example: Gazebo simulation | ||
| │ ├── srdf/ | ||
| │ │ └── panda.srdf.xacro # Semantic robot description | ||
| │ └── rviz/ | ||
| │ └── moveit.rviz # Pre-configured RViz setup | ||
| │ | ||
| └── 🐳 .docker/ # Containerized development environment | ||
| ├── build.bash # Docker image builder | ||
| ├── run.bash # Container launcher with GUI support | ||
| └── devel.bash # Development container access |
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Just a tiny suggestion for consistent formatting:
Suggested change
| panda_gz_moveit2/ | |
| ├── 📦 panda/ # Metapackage orchestrating the build | |
| | | |
| │ ├── launch/ | |
| │ │ ├── fake.launch.py # Motion planning with fake controllers | |
| │ │ └── gz.launch.py # Full Gazebo simulation with physics | |
| │ └── CMakeLists.txt # Auto-generates URDF/SDF/SRDF from xacros | |
| │ | |
| ├── 🤖 panda_description/ # Robot modeling and description | |
| │ ├── urdf/ | |
| │ │ ├── panda.urdf.xacro # xacro: main robot description | |
| │ │ ├── panda_arm.xacro # xacro: arm kinematics and dynamics | |
| │ │ ├── panda.ros2_control # xacro: ros2_control configuration | |
| │ │ ├── panda.gazebo # xacro: Gazebo-specific plugins (gz_ros2_control) | |
| │ │ ├── ... # more xacro files | |
| │ │ └── panda.urdf # Generated URDF file from xacro | |
| | | | |
| | ├── scripts/ # script to transform Xacro to SDF/URDF | |
| | | | |
| │ ├── panda/ | |
| │ │ ├── meshes/ # Visual and collision meshes | |
| │ │ └── model.sdf # Generated SDF for Gazebo | |
| │ └── config/ | |
| │ └── initial_joint_positions.yaml | |
| │ | |
| ├── 🎯 panda_moveit_config/ # MoveIt 2 configuration and examples | |
| │ ├── config/ | |
| │ │ ├── controllers_*.yaml # ros2_control controller configurations | |
| │ │ ├── kinematics.yaml # Kinematic solver settings | |
| │ │ ├── joint_limits.yaml # Safety limits and constraints | |
| │ │ ├── ompl_planning.yaml # Motion planning algorithms | |
| │ │ ├── servo.yaml # Real-time servo control | |
| │ │ └── moveit_controller_manager.yaml | |
| │ ├── launch/ | |
| │ │ ├── move_group.launch.py # Core MoveIt 2 setup | |
| │ │ ├── ex_fake_control.launch.py # Example: Fake controllers | |
| │ │ └── ex_gz_control.launch.py # Example: Gazebo simulation | |
| │ ├── srdf/ | |
| │ │ └── panda.srdf.xacro # Semantic robot description | |
| │ └── rviz/ | |
| │ └── moveit.rviz # Pre-configured RViz setup | |
| │ | |
| └── 🐳 .docker/ # Containerized development environment | |
| ├── build.bash # Docker image builder | |
| ├── run.bash # Container launcher with GUI support | |
| └── devel.bash # Development container access | |
| panda_gz_moveit2/ | |
| ├── 📦 panda/ # Metapackage orchestrating the build | |
| │ ├── launch/ | |
| │ │ ├── fake.launch.py # Motion planning with fake controllers | |
| │ │ └── gz.launch.py # Full Gazebo simulation with physics | |
| │ └── CMakeLists.txt # Auto-generates URDF/SDF/SRDF from xacros | |
| │ | |
| ├── 🤖 panda_description/ # Robot modeling and description | |
| │ ├── urdf/ | |
| │ │ ├── panda.urdf.xacro # xacro: main robot description | |
| │ │ ├── panda_arm.xacro # xacro: arm kinematics and dynamics | |
| │ │ ├── panda.ros2_control # xacro: ros2_control configuration | |
| │ │ ├── panda.gazebo # xacro: Gazebo-specific plugins (gz_ros2_control) | |
| │ │ ├── ... # more xacro files | |
| │ │ └── panda.urdf # Generated URDF file from xacro | |
| | | | |
| | ├── scripts/ # script to transform Xacro to SDF/URDF | |
| | | | |
| │ ├── panda/ | |
| │ │ ├── meshes/ # Visual and collision meshes | |
| │ │ └── model.sdf # Generated SDF for Gazebo | |
| │ └── config/ | |
| │ └── initial_joint_positions.yaml | |
| │ | |
| ├── 🎯 panda_moveit_config/ # MoveIt 2 configuration and examples | |
| │ ├── config/ | |
| │ │ ├── controllers_*.yaml # ros2_control controller configurations | |
| │ │ ├── kinematics.yaml # Kinematic solver settings | |
| │ │ ├── joint_limits.yaml # Safety limits and constraints | |
| │ │ ├── ompl_planning.yaml # Motion planning algorithms | |
| │ │ ├── servo.yaml # Real-time servo control | |
| │ │ └── moveit_controller_manager.yaml | |
| │ ├── launch/ | |
| │ │ ├── move_group.launch.py # Core MoveIt 2 setup | |
| │ │ ├── ex_fake_control.launch.py # Example: Fake controllers | |
| │ │ └── ex_gz_control.launch.py # Example: Gazebo simulation | |
| │ ├── srdf/ | |
| │ │ └── panda.srdf.xacro # Semantic robot description | |
| │ └── rviz/ | |
| │ └── moveit.rviz # Pre-configured RViz setup | |
| │ | |
| └── 🐳 .docker/ # Containerized development environment | |
| ├── build.bash # Docker image builder | |
| ├── run.bash # Container launcher with GUI support | |
| └── devel.bash # Development container access |
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I tried to rework the README to update information, facilitate the different branches for different distributions to the user and include basic commands in a more friendly way.
The format with all those emoticons might be familiar to you and it comes from the use of AI tools. After fighting and pruning a good bunch of the AI suggestion and fixed a good bunch of the instructions, I'm quite happy with the current content.