fix: container concerns

docker/README.md

@@ -1,16 +1,19 @@
-## To run the contianers
+# To run the demo contianers
+
 ```bash
 cd docker/ursim
 docker build -t ursim:latest .
 cd ../ur-driver
 docker build -t ur-driver:latest .
+cd ../ur-moveit
+docker build -t ur-moveit:latest .
 cd ../ur-example
 docker build -t ur-example:latest .
 cd ../
 docker-compose up
 ```
 
-Then the robot sim at `http://localhost:6080/vnc.html` needs to be turned on. 
-In the installation tab, change the external control URCap IP to `192.168.56.102`. 
-Then create a program for external control and start it. 
-You may have to restart the ur-driver container. 
+Then the robot sim at `http://localhost:6080/vnc.html` needs to be turned on.
+In the installation tab, change the external control URCap IP to `192.168.56.102`.
+Then create a program for external control and start it.
+You may have to restart the ur-driver container.

docker/erobs-common-img/Dockerfile

@@ -10,7 +10,7 @@ RUN apt-get update \
         ros-${ROS_DISTRO}-ur \
         build-essential \
         python3-colcon-common-extensions
-        
+
 RUN apt-get install -y x11vnc xvfb 
 # Clean up
 RUN apt-get autoremove -y \
@@ -23,7 +23,7 @@ RUN mkdir /root/ws -p
 
 WORKDIR /root/ws
 
-RUN git clone https://github.com/maffettone/erobs.git -b humble
+RUN git clone https://github.com/nsls2/erobs.git -b humble
 
 WORKDIR /root/ws/erobs/
 RUN /bin/bash -c ". ./setup.sh"

docker/ur-driver/Dockerfile

@@ -20,7 +20,7 @@ RUN mkdir /root/ws/src -p
 
 WORKDIR /root/ws/src
 
-RUN git clone https://github.com/maffettone/erobs.git -b humble
+RUN git clone https://github.com/nsls2/erobs.git -b humble
 
 WORKDIR /root/ws/
 

docker/ur-driver/entrypoint.sh

@@ -4,4 +4,4 @@ echo "Connecting to simulator through ursim for ur_type ${UR_TYPE}..."
 .  /opt/ros/${ROS_DISTRO}/setup.bash
 .  /root/ws/install/setup.bash 
 
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=${UR_TYPE} robot_ip:=${ROBOT_IP} launch_rviz:=false description_package:=${DESCRIPTION_PKG} description_file:=${DESCRIPTION_FILE}
+ros2 launch ur3e_hande_robot_description ur_control.launch.py ur_type:=${UR_TYPE} robot_ip:=${ROBOT_IP} launch_rviz:=false description_package:=${DESCRIPTION_PKG} description_file:=${DESCRIPTION_FILE}

docker/ur-moveit/Dockerfile

@@ -22,7 +22,7 @@ RUN mkdir /root/ws/src -p
 
 WORKDIR /root/ws/src
 
-RUN git clone https://github.com/maffettone/erobs.git -b humble
+RUN git clone https://github.com/nsls2/erobs.git -b humble
 
 WORKDIR /root/ws/
 
@@ -48,4 +48,4 @@ RUN chmod +x /entrypoint.sh
 # VNC viewer
 EXPOSE 5901
 
-ENTRYPOINT [ "/entrypoint.sh" ]
+ENTRYPOINT [ "/entrypoint.sh" ]

src/custom-ur-descriptions/ur3e_hande_robot_description/CMakeLists.txt

@@ -8,7 +8,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
-install(DIRECTORY config meshes urdf
+install(DIRECTORY config meshes urdf launch
   DESTINATION share/${PROJECT_NAME}
 )