From 8a10e5baf9935a696217552008a0137503d147f1 Mon Sep 17 00:00:00 2001
From: Rene Ebeling <rene.ebeling@alumni.fh-aachen.de>
Date: Fri, 16 May 2025 10:56:42 +0200
Subject: [PATCH] Update README.md to clarify MoveIt2 launch instructions and
add serial_to_pcl command
---
Install_Documentation/README.md | 3 ++-
README.md | 4 +++-
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/Install_Documentation/README.md b/Install_Documentation/README.md
index eea480d..0595327 100644
--- a/Install_Documentation/README.md
+++ b/Install_Documentation/README.md
@@ -57,7 +57,8 @@ Ensure you have the following installed on your system:
```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:**
+7. **Afterwards we gonna launch the MoveIt2 configuration in a new Terminal with the following command:**
+ Make sure that the ros is sourced in this Terminal aswell.
```bash
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10 launch_rviz:=true
```
diff --git a/README.md b/README.md
index 95b154d..e0e9922 100644
--- a/README.md
+++ b/README.md
@@ -120,7 +120,9 @@ Make sure to connect the **SCL** and **SDA** lines for I2C communication, as wel
performance.
## How It Works
-
+ ```bash
+ ros2 run serial_to_pcl serial_to_pcl_node
+ ```
### Sensor Configuration
The VL53L7CX sensors are configured to operate in an 8x8 grid mode, providing 64 distance measurements per sensor. Each sensor is assigned a unique I2C address to enable communication with the microcontroller. The configuration parameters, such as the I2C address and ranging frequency, can be adjusted in the Arduino sketch.
--
GitLab