♻️ Cleans up code base

README.md

@@ -1,15 +1,15 @@
 # Real panda control examples
 
-This repository contains several examples for controlling the real panda robot. It was created as a supliment to the official [panda documentation](https://frankaemika.github.io/docs/installation_linux.html). Further it serves as a storage place for several problems I encountered while working with the panda robot (see the [discussions section](https://github.com/rickstaa/real-panda-control-examples/discussions)).
+This repository contains several examples for controlling the real panda robot. It was created as a supplement to the official [panda documentation](https://frankaemika.github.io/docs/installation_linux.html). Further it serves as a storage place for several problems I encountered while working with the panda robot (see the [discussions section](https://github.com/rickstaa/real-panda-control-examples/discussions)).
 
 ## Clone instructions
 
-To clone the respository use the following command:
+To clone the repository use the following command:
 
 ```bash
 mkdir real_catkin_ws
 cd real_catkin_ws
-git clone --recurse-submodules https://github.com/rickstaa/real_panda_moveit_control.git src
+git clone --recurse-submodules https://github.com/rickstaa/real_panda_control_examples.git src
 ```
 
 ## Build instructions
@@ -38,8 +38,22 @@ To test out Moveit control, after you build and sourced the catkin workspace, yo
 roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2
 ```
 
-Additionally the `real_panda_moveit_control` contains a slightly modified version of this example:
+Additionally the `real_panda_control_examples` contains a slightly modified version of this example:
 
 ```bash
-roslaunch real_panda_moveit_control real_panda_moveit_control.launch
+roslaunch real_panda_control_examples real_panda_moveit_control.launch
+```
+
+## Trajectory control example launch instructions
+
+To test out Trajectory control, after you build and sourced the catkin workspace, you can launch the example included in the `panda_moveit_config` using the following command:
+
+```bash
+roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2
+```
+
+Additionally the `real_panda_control_examples` contains a slightly modified version of this example:
+
+```bash
+roslaunch real_panda_control_examples real_panda_traj_control.launch
 ```

real_panda_moveit_control/CMakeLists.txt → real_panda_control_examples/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(real_panda_moveit_control)
+project(real_panda_control_examples)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -104,8 +104,8 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES real_panda_moveit_control
-#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  LIBRARIES real_panda_control_examples
+  CATKIN_DEPENDS roscpp rospy std_msgs ros_controllers rqt_joint_trajectory_controller
 #  DEPENDS system_lib
 )
 
@@ -122,7 +122,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/real_panda_moveit_control.cpp
+#   src/${PROJECT_NAME}/real_panda_control_examples.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -133,7 +133,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/real_panda_moveit_control_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/real_panda_control_examples_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -197,7 +197,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_real_panda_moveit_control.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_real_panda_control_examples.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

real_panda_control_examples/README.md

@@ -0,0 +1,4 @@
+# Real panda MoveIt control
+
+This folder contains several launch scripts that can be used to control the real panda_robot using
+MoveIt.