From 9cc8eecaa873d43be0ff5d99bbb5069993083df5 Mon Sep 17 00:00:00 2001
From: Alexander Schaefer <alex@Mac.fritz.box>
Date: Mon, 12 May 2025 21:51:05 +0200
Subject: [PATCH] AS: 1. readme

---
 .DS_Store | Bin 8196 -> 6148 bytes
 README.md | 216 ++++++++++++++++++++++++++++++++++--------------------
 2 files changed, 138 insertions(+), 78 deletions(-)

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diff --git a/README.md b/README.md
index 16c0795..a7cbb5a 100644
--- a/README.md
+++ b/README.md
@@ -1,93 +1,153 @@
-# BA-AlexanderSchafer
 
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://collaborating.tuhh.de/m-4/ligeti/ros2osc/ba-alexanderschafer.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://collaborating.tuhh.de/m-4/ligeti/ros2osc/ba-alexanderschafer/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
+# OSC–ROS 2 Interface
 
 ## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
 
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
+This repository provides an interface that connects OSC with ROS 2. It allows coltroling robotic manipulators using OSC messages.
 
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
+---
 
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
+## Prerequisites
 
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
+- **Operating System:** Ubuntu 22.04 recommended with ROS 2 installed
+or
+- **Docker:** Ensure Docker and Docker CLI are installed and running  
+  - [Install for Windows](https://docs.docker.com/desktop/setup/install/windows-install/)  
+  - [Install for Ubuntu](https://docs.docker.com/engine/install/ubuntu/)  
+  - [Install for macOS](https://docs.docker.com/desktop/setup/install/mac-install/)
 
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
+Windows users: run `winget install Docker.DockerCli` to install the Docker CLI.
 
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
+---
 
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
+## Using Docker for ROS 2 and URSim
 
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
+### Verify Docker Installation
+Run the test container:
+```bash
+docker run --rm hello-world
+```
 
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
+### Build Containers
 
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
+1. **URSim Container**  
+   This builds a simulator with the UR External Control URCap installed:
+   ```bash
+   docker build -t ursim:latest URSim
+   ```
 
-## License
-For open source projects, say how it is licensed.
+2. **ROS 2 Humble Container**  
+   Includes ROS 2, Universal Robots drivers, and developer tools:
+   ```bash
+   docker build -t ros2_humble:latest ROS2_humble
+   ```
 
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+### Create a Docker Bridge Network
+```bash
+docker network create ros_ursim
+```
+
+### Run Both Containers
+
+- URSim:
+  ```bash
+  docker run -it --rm -e ROBOT_MODEL=UR10 -p 6080:6080 --network ros_ursim ursim:latest
+  ```
+
+- ROS 2 Humble:
+  ```bash
+  docker run -it --rm --network ros_ursim -p 8000:8000/udp ros2_humble:latest
+  ```
+
+Open the simulator in your browser:
+```
+http://localhost:6080/vnc.html
+```
+
+---
+
+## Installation Instructions
+
+1. **Source ROS 2**
+   ```bash
+   source /opt/ros/humble/setup.bash
+   ```
+
+2. **Install Required Python Libraries**
+   ```bash
+   pip install numpy==1.23.5 scipy==1.10.1 matplotlib==3.6.3 spatialmath-python==1.0.0 roboticstoolbox-python==1.0.1
+   ```
+
+3. **Clone and Build the Workspace**
+   ```bash
+   git clone <this_repo>
+   cd workspace
+   colcon build
+   source install/setup.bash
+   ```
+
+4. **Run the Interface**
+   ```bash
+   ros2 run osc_ros2 interface
+   ```
+
+---
+
+## Interface Setup
+
+The script will guide you through the setup:
+
+- **URDF File**: Choose whether to load a URDF to enable kinematics, joint limits, etc.
+- **Log/State IP & Ports**: Enter where logs and joint state OSC messages should be sent.
+- **Command Port**: Set the port to listen for incoming OSC commands.
+- **Limits**: Define workspace limits (x/y/z) and joint limits if desired.
+- **Refresh Rate**: Choose how often the interface updates (Hz).
+
+---
+
+## Supported OSC Commands
+
+| Address                        | Data Format                                               | Description                            |
+|-------------------------------|-----------------------------------------------------------|----------------------------------------|
+| `/joint_positions`            | `[q1, ..., qN]` or `[q1, ..., qN, duration]`              | Move all joints                        |
+| `/joint_positions/{joint}`    | `q1` or `[q1, duration]`                                  | Set one joint only                     |
+| `/tcp_coordinates`            | `[x, y, z, roll, pitch, yaw]` or with duration            | Move to Cartesian pose                 |
+| `/joint_trajectory`           | `[[q1,...], [q2,...], ...]`                               | Follow a joint-space trajectory        |
+| `/cartesian_trajectory`       | `[[x1,...], [x2,...], ...]`                               | Follow a Cartesian-space trajectory    |
+| `/speed_scaling`              | `float` (e.g., 0.5 -> 50% of max speed)                   | Adjust execution speed                 |
+
+---
+
+## Connecting to Simulation
+
+Launch the robot driver (replace `x` with correct IP):
+```bash
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
+```
+
+Use `hostname -i` inside each container to retrieve IPs.
+
+On the teach pendant or URSim, set the ROS 2 container’s IP in the External Control URCap.
+
+---
+
+## Check Connection
+
+You can test if data is flowing correctly with:
+```bash
+ros2 topic echo /joint_states
+```
+
+---
+
+## Example Usage
+
+An example patch in puredata is provided that allows the user to control a 6-DOF robot with sliders via OSC.
+
+---
+
+[^1]: [What is Docker?](https://docs.docker.com/get-started/)
+[^2]: [WSL2 & Docker Networking](https://stackoverflow.com/questions/65426891)
+[^3]: [USB Device in Docker](https://stackoverflow.com/questions/46467295)
+[^4]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)
+[^5]: macOS is not tested—use Linux or Windows for reliability.