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Clarify robot startup in README (backport #790) #808

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Clarify robot startup in README (backport #790) #808

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16 changes: 16 additions & 0 deletions README.md
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Expand Up @@ -113,6 +113,7 @@ For getting started, you'll basically need three steps:
binary package installation unless you want to join development and submit changes.

2. **Start & Setup the robot**. Once you've installed the driver, [setup the
<<<<<<< HEAD
robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/robot_setup.html)

Please do this step carefully and extract the calibration as explained
Expand All @@ -122,12 +123,27 @@ Otherwise the TCP's pose will not be correct inside the ROS ecosystem.
If no real robot is required, you can [use a simulated
robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
that will behave almost exactly like the real robot.
=======
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
and [create a program for external
control](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_e_series.html).

Please do this step carefully and extract the calibration as explained
[here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
Otherwise the TCP's pose will not be correct inside the ROS ecosystem.

If no real robot is required, you can [use a simulated
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
that will behave almost exactly like the real robot.
>>>>>>> ec7f5e7 (Clarify robot startup in README (#790))


3. **Start the driver**. See the [usage
documentation](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html) for
details.

4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.

### Install from binary packages
1. [Install ROS2](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). This
branch supports only ROS2 Humble. For other ROS2 versions, please see the respective
Expand Down