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Added some useful installation instructions. #44

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Added some useful installation instructions. #44

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23 changes: 19 additions & 4 deletions README.md
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Expand Up @@ -24,10 +24,25 @@ Catkin workspace. It requires the helper package
[`openrave_catkin`](https://github.com/personalrobotics/openrave_catkin) to be
automatically added to the `OPENRAVE_PLUGIN` path.

You can try running `rosrun or_rviz test.py` to test your
installation. This script loads the `wamtest1.env.xml` environment, which is
one of the default environments shipped with OpenRAVE, into the `RViz`
in-process viewer.
### Installation step-by-step
- Download [`openrave_catkin`](https://github.com/personalrobotics/openrave_catkin) in your `catkin_ws/src`.
- Download `or_rviz` from this repository in your `catkin_ws/src`.
- Run `catkin_make` within your `catkin_ws` directory.
- At the end of the make process you should get an output similar to the one below:
```
Linking CXX shared library /home/rafael/catkin_ws/devel/share/openrave-0.9/plugins/or_rviz_plugin.so
[100%] Built target or_rviz_plugin
```
- Take the important path `/home/rafael/catkin_ws/devel/share/openrave-0.9/plugins/or_rviz_plugin.so` (note that this is an example path, your should be different) and paste it into your `~/.bashrc` file as a new line as such:
```
export OPENRAVE_PLUGINS=$OPENRAVE_PLUGINS:~/catkin_ws/devel/share/openrave-0.9/plugins
```
- Source your `bashrc` for the changes to take effect by running: `source ~/.bashrc`.

## Testing that the installation was successful
One way is to check that the `RViz` viewer appears in your OpenRAVE plugin list. Run `openrave --listplugins` and verify that `RViz` appears under `viewer` section.

You can also try running `rosrun or_rviz test.py` to test your installation. This script loads the `wamtest1.env.xml` environment, which is one of the default environments shipped with OpenRAVE, into the `RViz` in-process viewer.

## Usage: Out-of-Process Viewer ##

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