[ Minor Updates ] : Python path update and README changes (#72)

* Python Path update for python scripts, Cmakelist changes for module inclusions in 4_simulation_gazebo

* README changes for firmware/4_microros_gazebo for more clear instructions.

* Python path updated after testing

* Update README.md

README instruction changes

* Update talker.py

* Update inverse_kinematics.py

Author: RapidRoger18

1_chatter_listener/scripts/listener.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/python3
 # MIT License
 
 # Copyright (c) 2024 Society of Robotics and Automation

1_chatter_listener/scripts/talker.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/python3
 # MIT License
 
 # Copyright (c) 2024 Society of Robotics and Automation

2_simulation_dh/scripts/broadcaster.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/python3
 import rclpy
 from rclpy.node import Node
 

3_simulation_rviz/scripts/rviz.py

@@ -1,4 +1,4 @@
-# #!/usr/bin/env python3
+#!/usr/bin/python3
 import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import JointState

4_simulation_gazebo/CMakeLists.txt

@@ -29,7 +29,7 @@ find_package(robot_state_publisher REQUIRED)
 #   DESTINATION lib/${PROJECT_NAME}
 # )
 install(PROGRAMS
-  scripts/forward_kinematics.py scripts/inverse_kinematics.py
+  scripts/forward_kinematics.py scripts/inverse_kinematics.py scripts/forward_kinematics_module.py scripts/inverse_kinematics_module.py
   DESTINATION lib/${PROJECT_NAME}
 )
 install(

4_simulation_gazebo/scripts/forward_kinematics.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/python3
 # -*- coding: utf-8 -*-
 import rclpy
 from rclpy.node import Node

4_simulation_gazebo/scripts/inverse_kinematics.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/python3
 import rclpy
 from rclpy.node import Node
 import inverse_kinematics_module
@@ -74,4 +74,4 @@ def inverse_kinematics_publisher():
     node = Node('inverse_kinematics_publisher')
     node.create_timer(0.2, inverse_kinematics_publisher)
     rclpy.spin(node)
-    rclpy.shutdown()
+    rclpy.shutdown()

firmware/4_microros_gazebo/README.md

@@ -21,9 +21,11 @@ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
     * ``` cd MARIO/firmware/4_microros_gazebo ```
     * ```$IDF_PATH/export.sh``` (or ```get_idf``` if you have set up the alias in your `.bashrc` file)
 
-* Configure the micro-ROS settings 
-    * ```idf.py menuconfig```
-    * inside `micro-ROS Settings` Set up WiFi configuration (SSID and Password) and your IP address in micro-ROS Agent IP (can be found by `ifconfig` command)
+* Configure the micro-ROS settings using ```idf.py menuconfig```
+    
+    * Inside micro-ROS Settings Set up WiFi configuration (SSID and Password)
+    * IP address of host PC in micro-ROS Agent IP (can be found by `ifconfig` command)
+    * Make sure micro_ros port is same as given to the agent in previous command.
 
 **Note** If it shows the error `ifconfig: command not found`, install the package `net-tools` by following command:
 
@@ -37,20 +39,20 @@ sudo apt install net-tools
 
 
 
-* In another terminal, Navigate to the ROS2 workspace and Start the Publisher by executing the relevant python script after sourcing the environment
+* In another terminal, Navigate to the ROS2 workspace and Start the Publisher by executing the relevant python script after sourcing ros2 in the environment
 (Make sure you have previously built the folder by executing `colcon build` command with 4_simulation_gazebo in the src folder):
 
 ```bash
-cd ros2_ws/
+cd ros2_ws
 source install/setup.bash
-ros2 run simulation_gazebo forward_kinematics.py
+ros2 launch simulation_gazebo basic_gazebo.launch.py
 ```
-* You can also run inverse_kinematics.py using above command
-
-**Note**:- If it shows the error that script is not executable, run the following command in the directory where the script is present.
-
+This will open a gazebo simulation window.
+Now we run kinematics scripts on the bot. Open a new terminal and run following commands.
 ```bash
-sudo chmod +x forward_kinematics.py
+cd ros2_ws
+source install/setup.bash
+ros2 run simulation_gazebo forward_kinematics.py
 ```
 
 * Enter the angles on the publisher side and voila! See your manipulator moving!