Update installation instructions and add commands for Universal Robots driver setup

Install_Documentation/README.md

@@ -16,40 +16,123 @@ Ensure you have the following installed on your system:
     ```bash
     git clone https://git-ce.rwth-aachen.de/rene.ebeling/robot-sensor.git
     ```
-    ```
-    cd ~/robot-sensor/
-    ```
 
-3. **Install Dependencies**:
+2. **Install Dependencies**:
     ```bash
     pip install -r /Install_Documentation/requirements.txt
     ```
 
-## Getting Started
-
-1. **Build the Workspace**:
+3. **Build the Workspace**:
     ```bash
     cd ~/robot-sensor/workspaces/COLCON_WS
     ```
     ```bash
     colcon build
     ```
-2. **Source the Workspace and ROS2 installation**:
+4. **Source the Workspace and ROS2 installation**:
     Ensure you are in the COLCON_WS Directory
     ```bash
     source install/setup.bash
+    ```
+    ```bash
     source /opt/ros/<ROSDISTRO>/setup.bash
     ```
 
-3. **Verify Installation**:
-    Open your browser or terminal and follow the instructions provided by the application.
+5. **Install the Universal Robots driver and replace the ur_description package in `/opt/ros/humble/share/`  wtth the custom made one from the repository**:
+    ```bash
+    sudo apt-get install ros-${ROS_DISTRO}-ur
+    ```
+    ```bash
+    sudo rm -r /opt/ros/humble/share/ur_description
+    ```
+    ```bash
+    sudo cp -r ~/robot-sensor/workspaces/COLCON_WS/src/ur_description /opt/ros/humble/share/
+    ```
 
+6. **Now start the ur_robot_driver with the following comand:**
+    ```bash
+    ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=<IP_from_your_robot>
+    ```
+7. **Afterwards we gonna launch the MoveIt2 configuration with the following command:**
+    ```bash
+    ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10 launch_rviz:=true
+    ```
 ## Troubleshooting
 
 - If you encounter issues, ensure all prerequisites are installed correctly.
 - Check for missing dependencies or version mismatches.
+- Use the `--show-args` flag with ROS2 commands to display the arguments and options available for a specific launch file or node. This can help debug or understand the configuration better.
+### Additional Troubleshooting Tools and Flags
+
+- **`--ros-args`**: Use this flag with ROS 2 commands to pass additional arguments or parameters to nodes. For example:
+    ```bash
+    ros2 run <package_name> <node_name> --ros-args -p <parameter_name>:=<value>
+    ```
+
+- **`ros2 topic echo`**: Monitor the messages being published on a specific topic. This is useful for debugging communication between nodes.
+    ```bash
+    ros2 topic echo /<topic_name>
+    ```
+
+- **`ros2 topic list`**: List all active topics in the ROS 2 system to ensure the expected topics are being published.
+
+- **`ros2 node list`**: Display all active nodes in the system to verify that the required nodes are running.
+
+- **`ros2 param list`**: List all parameters for a specific node to check if they are set correctly.
+    ```bash
+    ros2 param list /<node_name>
+    ```
 
+- **`ros2 param get`**: Retrieve the value of a specific parameter for a node.
+    ```bash
+    ros2 param get /<node_name> <parameter_name>
+    ```
+
+- **`ros2 service list`**: List all available services to ensure the required services are active.
+
+- **`ros2 service call`**: Call a service to test its functionality.
+    ```bash
+    ros2 service call /<service_name> <service_type> "{<arguments>}"
+    ```
+
+- **`colcon test`**: Run tests in your workspace to verify that your packages are functioning as expected.
+
+- **`colcon test-result`**: Check the results of the tests run with `colcon test`.
+
+- **`rqt`**: A graphical user interface tool for visualizing and debugging ROS 2 systems. Install it using:
+    ```bash
+    sudo apt-get install ros-${ROS_DISTRO}-rqt
+    ```
+
+- **`rqt_graph`**: Visualize the node and topic connections in your ROS 2 system. Launch it with:
+    ```bash
+    rqt_graph
+    ```
+
+- **`rviz2`**: A powerful visualization tool for ROS 2. Use it to debug robot states, sensor data, and more.
+
+- **Log Levels**: Adjust the log level of nodes to get more detailed output for debugging. For example:
+    ```bash
+    ros2 run <package_name> <node_name> --ros-args --log-level debug
+    ```
+
+- **Environment Variables**: Use environment variables like `ROS_DOMAIN_ID` to isolate your ROS 2 network or `RMW_IMPLEMENTATION` to switch between middleware implementations.
+
+- **`ros2 doctor`**: A diagnostic tool to check the health of your ROS 2 installation.
+    ```bash
+    ros2 doctor
+    ```
 ## Additional Resources
 
-- Refer to the [Wiki](https://github.com/your-username/robot-sensor/wiki) for detailed documentation.
-- Open an issue on the [GitHub Issues page](https://github.com/your-username/robot-sensor/issues) for support.
+For more detailed documentation and support, refer to the following resources:
+
+- **Universal Robots ROS 2 Documentation**: Comprehensive guide for integrating Universal Robots with ROS 2.  
+    [Universal Robots ROS 2 Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/index.html)
+
+- **PyMoveIt2 GitHub Repository**: A Python interface for MoveIt2, useful for understanding how to control robots with Python nodes.  
+    [PyMoveIt2 GitHub Repository](https://github.com/AndrejOrsula/pymoveit2/tree/7f722fd3fda6e6c958c150cf7d8ad619119d6262)
+
+- **ROS 2 Tutorials**: Official tutorials for ROS 2 Humble, covering a wide range of topics from beginner to advanced.  
+    [ROS 2 Tutorials](https://docs.ros.org/en/humble/Tutorials.html)
+
+- **GitHub Issues**: If you encounter any problems or have questions, open an issue on the [GitHub Issues page](https://github.com/rene-ebeling/robot-sensor/issues).