Updated README.md

README.md

-** With Sensors version && Fully underactuated model of Robotiq Gripper **
+* As of Feb 17th, 2015, the Husky UR5 has only been tested in simulation and not on real hardware.
 
 =======================================
-Installing The Grizzly UR10 from Source
+Installing The Husky UR5 from Source
 =======================================
 
 1. Clone these repositories and put them in your source directory, then catkin_make:
 
-    git clone https://github.com/g/grizzly_ur10
+    git clone https://github.com/husky/husky_description
 
-    git clone https://github.com/ros-industrial/robotiq
+    git clone https://github.com/husky/husky_simulator
+
+    git clone https://github.com/husky/husky_ur5_moveit_config
 
     mv robotiq grizzly_ur10 ~/catkin_ws/your_source_directory
 
@@ -18,13 +20,13 @@ Installing The Grizzly UR10 from Source
 
 Everything should compile smoothly (provided you have all of the debs installed. if not, install all of them until the compiler errors go away)
 
-
 =======================================
-Installing The Grizzly UR10 from debs
+Installing The Husky UR5 from debs
 =======================================
 
-Until the ros-industrial/robotiq packages are released via debs, we recommend you install from source to prevent confusion and errors.
+When available on http://www.ros.org/debbuild/indigo.html,
 
+   sudo apt-get install ros-indigo-husky-desktop
 
 ==============================
 Usage with real Hardware (Not tested yet)
@@ -79,26 +81,7 @@ Don't forget to source the correct setup shell files and use a new terminal for
 
 To bring up the simulated robot in Gazebo, run:
 
-    roslaunch grizzly_ur10_gazebo grizzly_ur10.launch
-
-
-===========================================
-Operating the Robotiq Gripper in Simulation
-===========================================
-
-Make sure the Gazebo simulation of the Grizzly UR10 is up and running before calling this command.
-
-If it's not, you may start it by (first make sure your workspace is sourced to devel/setup.bash if it is installed by source, or /opt/ros/${rosdistro}/setup.bash if from apt-get)
-
-    roslaunch grizzly_ur10_gazebo grizzly_ur10.launch
-
-This command will open the gripper:  
-
-    rostopic pub --oleft_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,2,1,0,0,0,0,255,0,155,0,0,255,0,0,0,0,0}
-
-This command will close the gripper: 
-
-    rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,1,1,0,0,0,255,255,0,155,0,0,255,0,0,0,0,0}
+    roslaunch husky_gazebo husky_ur5.launch
 
 ===============================
 MoveIt! with a simulated robot
@@ -106,18 +89,19 @@ MoveIt! with a simulated robot
 
 Have the Gazebo simulation up and running: 
 
-    roslaunch grizzly_ur10_gazebo grizzly_ur10.launch
+    roslaunch husky_gazebo husky_ur5.launch
 
 Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages.
 
-    roslaunch grizzly_ur10_moveit_config grizzly_ur10_planning_execution.launch sim:=true
+    roslaunch husky_ur5_moveit_config husky_ur5_planning_execution.launch sim:=true
 
 Start RViz which will provide an interface to move around the arm.
 
-    roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true
+    roslaunch husky_ur5_moveit_config moveit_rviz.launch config:=true
 
-Make sure you set the planning request to be: ur10_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red. 
+Make sure you set the planning request to be: ur5_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red. 
 
+It should have a response time of less than 0.5s.
 
 
 

README.md~

+* As of Feb 17th, 2015, the Husky UR5 has only been tested in simulation and not on real hardware.
+
+=======================================
+Installing The Husky UR5 from Source
+=======================================
+
+1. Clone these repositories and put them in your source directory, then catkin_make:
+
+    git clone https://github.com/husky/husky_description
+
+    git clone https://github.com/husky/husky_simulator
+
+    git clone https://github.com/husky/husky_ur5_moveit_config
+
+    mv robotiq grizzly_ur10 ~/catkin_ws/your_source_directory
+
+    cd ~/catkin_ws
+
+    catkin_make
+
+Everything should compile smoothly (provided you have all of the debs installed. if not, install all of them until the compiler errors go away)
+
+=======================================
+Installing The Husky UR5 from debs
+=======================================
+
+When available on http://www.ros.org/debbuild/indigo.html,
+
+   sudo apt-get install ros-indigo-husky-desktop
+
+==============================
+Usage with real Hardware (Not tested yet)
+==============================
+
+There are launch files available to bringup a real Grizzly + UR10 robot.
+Don't forget to source the correct setup shell files and use a new terminal for each command!
+
+To bring up the real robot, run:
+
+    roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch robot_ip:=IP_OF_THE_ROBOT     [reverse_port:=REVERSE_PORT]
+
+A simple test script that moves the robot to predefined positions can be executed like this:
+
+    rosrun ur_driver test_move.py
+
+CAUTION:
+Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.
+
+==============================
+MoveIt! with real Hardware (Not tested yet)
+==============================
+
+Additionally, you can use MoveIt! to control the robot.
+There exist MoveIt! configuration packages for both robots.
+
+For setting up the MoveIt! nodes to allow motion planning run:
+
+    roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch
+
+For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
+
+    roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true
+
+As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:
+
+    roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]
+
+    roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch limited:=true
+
+    roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true
+
+
+===============================
+Usage with Gazebo Simulation
+===============================
+
+There are launch files available to bringup a simulated robot.
+In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly.
+
+Don't forget to source the correct setup shell files and use a new terminal for each command!
+
+To bring up the simulated robot in Gazebo, run:
+
+    roslaunch husky_gazebo husky_ur5.launch
+
+===============================
+MoveIt! with a simulated robot
+===============================
+
+Have the Gazebo simulation up and running: 
+
+    roslaunch husky_gazebo husky_ur5.launch
+
+Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages.
+
+    roslaunch husky_ur5_moveit_config husky_ur5_planning_execution.launch sim:=true
+
+Start RViz which will provide an interface to move around the arm.
+
+    roslaunch husky_ur5_moveit_config moveit_rviz.launch config:=true
+
+Make sure you set the planning request to be: ur5_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red. 
+
+It should have a response time of less than 0.5s
+
+
+
+
+
+