Merge pull request #28 from AcutronicRobotics/readme

Update readme

Author: YueErro

INSTALL.md

@@ -1,5 +1,6 @@
 # Installation
-For the complete MARA experiments installation, please refer first to the **ROS2learn** installation instructions:  [github/acutronicrobotics/ros2learn/Install](https://github.com/acutronicrobotics/ros2learn/blob/crystal/Install.md).
+
+For the complete MARA experiments installation, please refer first to the **ROS2learn** installation instructions:  [github/acutronicrobotics/ros2learn/Install](https://github.com/AcutronicRobotics/ros2learn/blob/crystal/Install.md).
 
 ## Table of Contents
 - [ROS 2.0](#ros-20)
@@ -18,26 +19,17 @@ For the complete MARA experiments installation, please refer first to the **ROS2
    - Ubuntu 18: Install ROS 2 Desktop following the official instructions, binaries recommended. [Instructions](https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/).
 
 ## Dependent tools
-**Note**: We recommend installing **Gazebo 9.0.0** via **ROS Crystal Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-crystal-gazebo*` packages and add [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/crystal) to the `ros2_mara_ws` we are going to build in the [Create a ROS workspace](#create-a-ros-workspace) section.
+**Note**: We recommend installing **Gazebo 9.9.0** via **ROS Crystal Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-crystal-gazebo*` packages.
 
 ```sh
 # ROS 2 extra packages
 sudo apt update && sudo apt install -y \
-ros-crystal-action-msgs \
-ros-crystal-message-filters \
-ros-crystal-yaml-cpp-vendor \
-ros-crystal-urdf \
-ros-crystal-rttest \
-ros-crystal-tf2 \
-ros-crystal-tf2-geometry-msgs \
-ros-crystal-rclcpp-action \
 ros-crystal-cv-bridge \
 ros-crystal-control-msgs \
 ros-crystal-image-transport \
 ros-crystal-gazebo-dev \
 ros-crystal-gazebo-msgs \
 ros-crystal-gazebo-plugins \
-ros-crystal-gazebo-ros \
 ros-crystal-gazebo-ros-pkgs
 
 sudo apt update && sudo apt install -y \
@@ -83,7 +75,7 @@ vcs import src < additional-repos.repos
 # Avoid compiling erroneus package
 touch ~/ros2_mara_ws/src/orocos_kinematics_dynamics/orocos_kinematics_dynamics/COLCON_IGNORE
 ```
-Generate [HRIM](https://github.com/erlerobot/HRIM) dependencies:
+Generate [HRIM](https://github.com/AcutronicRobotics/HRIM/tree/Coliza) dependencies:
 
 ```sh
 cd ~/ros2_mara_ws/src/HRIM
@@ -135,7 +127,7 @@ pip3 install -e .
 
 If not:
 ```sh
-cd ~ && git clone https://github.com/AcutronicRobotics/gym-gazebo2
+cd ~ && git clone https://github.com/AcutronicRobotics/gym-gazebo2 -b crystal
 cd gym-gazebo2
 pip3 install -e .
 ```

README.md

@@ -21,7 +21,7 @@ A whitepaper regarding previous work of gym-gazebo is available at https://arxiv
 
 **gym-gazebo2** is a complex piece of software for roboticists that puts together simulation tools, robot middlewares (ROS 2), machine learning and reinforcement learning techniques. All together to create an environment where to benchmark and develop behaviors with robots. Setting up `gym-gazebo2` appropriately requires relevant familiarity with these tools.
 
-**Docs**. In-depth explanations and actively growing tutorials can be found at https://acutronicrobotics.com/docs. The following is an example of what you can achieve using gym-gazebo2 as a submodule of [ros2learn](https://github.com/AcutronicRobotics/ros2learn) repository. The goal is to reach the green target.
+**Docs**. In-depth explanations and actively growing tutorials can be found at https://acutronicrobotics.com/docs. The following is an example of what you can achieve using gym-gazebo2 as a submodule of [ros2learn](https://github.com/AcutronicRobotics/ros2learn/tree/crystal) repository. The goal is to reach the green target.
  - 1. Left image shows the start of a training
  - 2. To the right we execute an already trained policy.
 
@@ -49,7 +49,8 @@ A whitepaper regarding previous work of gym-gazebo is available at https://arxiv
 
 ## Environments
 The code for each environment group is housed in its own subdirectory
-[gym_gazebo2/envs](https://github.com/AcutronicRobotics/gym-gazebo2/blob/crystal/gym_gazebo2/envs). Robot specific simulation files should be housed in robot specific ROS2 packages.
+
+[gym_gazebo2/envs](https://github.com/AcutronicRobotics/gym-gazebo2/tree/crystal/gym_gazebo2/envs). Robot specific simulation files should be housed in robot specific ROS2 packages.
 
 ### MARA
 #### Real Robot
@@ -65,7 +66,7 @@ MARA stands for Modular Articulated Robotic Arm and is a collaborative robotic a
 <p>
 <img src="imgs/mara_2.gif" align="left" height="125">
 
-MARA also provides an accurate simulated version in Gazebo, which allows to translate behaviors from the simulated environment to the real robot. This is the version we will be training in gym-gazebo2. Please refer to [github.com/acutronicRobotics/MARA](https://github.com/acutronicRobotics/MARA) for additional simulation related content for Gazebo, MoveIt! and rviz2.
+MARA also provides an accurate simulated version in Gazebo, which allows to translate behaviors from the simulated environment to the real robot. This is the version we will be training in gym-gazebo2. Please refer to [github.com/acutronicRobotics/MARA](https://github.com/AcutronicRobotics/MARA/tree/crystal) for additional simulation related content for Gazebo, MoveIt! and rviz2.
 </p><br>
 
 ## Installation

docker/README.md

@@ -19,7 +19,7 @@ python3 gg_random.py
  Make sure you have gazebo already installed in your main Ubuntu system and you are in the same path from which you executed the `docker run` command. If you are already running the simulation in the default port, you can access the visual interface the following way opening a new terminal:
 ```shell
 # Do not use -g --gzclient flag
-cd ~ && git clone https://github.com/AcutronicRobotics/gym-gazebo2
+cd ~ && git clone https://github.com/AcutronicRobotics/gym-gazebo2 -b crystal
 cd ~/gym-gazebo2/docker
 sh gzclient.sh
  ```