add instructions to readme

RobotLocomotion · Aug 7, 2023 · 33253cc · 33253cc
1 parent ebbacd4
commit 33253cc
Show file tree

Hide file tree

Showing 3 changed files with 20 additions and 2 deletions.
diff --git a/drake_ros_examples/examples/hydroelastic/README.md b/drake_ros_examples/examples/hydroelastic/README.md
@@ -32,8 +32,13 @@ bazel run @ros2//:rviz2 -- -d `pwd`/examples/hydroelastic/hydroelastic.rviz
 # Using Colcon/CMake
 rviz2 -d `ros2 pkg prefix --share drake_ros_examples`/hydroelastic/hydroelastic.rviz
 ```
+Or use ROS2 Launch:
+```sh
+# Using ROS2 Launch (C++)
+ros2 launch drake_ros_examples hydroelastic_cc_launch.py
+```
 
-You can optionall enable visualizng the simulation with Meshcat.
+You can optionally enable visualizng the simulation with Meshcat.
 
 ```bash
 # Using bazel

diff --git a/drake_ros_examples/examples/iiwa_manipulator/README.md b/drake_ros_examples/examples/iiwa_manipulator/README.md
@@ -35,7 +35,13 @@ bazel run //examples/iiwa_manipulator:iiwa_manipulator
 # Python
 bazel run //examples/iiwa_manipulator:iiwa_manipulator_py
 ```
-
+Or
+```sh
+# Using ROS2 Launch
+ros2 launch drake_ros_examples iiwa_manipulator_py_launch.py
+# or
+ros2 launch drake_ros_examples iiwa_manipulator_cc_launch.py
+```
 You should see the manipulation station with simple sinusoidal motion.
 
 **Note***: If you restart the simulation but not RViz, you should click RViz's

diff --git a/drake_ros_examples/examples/multirobot/README.md b/drake_ros_examples/examples/multirobot/README.md
@@ -39,6 +39,13 @@ bazel run //examples/multirobot:multirobot
 # Python
 bazel run //examples/multirobot:multirobot_py
 ```
+Or use ROS2 Launch:
+```sh
+# Using ROS2 Launch (C++)
+ros2 launch drake_ros_examples multirobot_py_launch.py
+# or (Python)
+ros2 launch drake_ros_examples multirobot_cc_launch.py
+``` 
 
 You should observe a 5 x 5 array of manipulators flopping about under the influence of gravity.