Changes after debugging pre sale

README.md

@@ -20,4 +20,39 @@ Contains the as1 and as2 launch files. The two files are intended to be launched
 * has some launch files for slam_toolbox and some residue from experimenting with end-effector held realsense l515
 
 ## as_xarm
-* stores the submodule for xarm drivers
+* stores the submodule for xarm drivers
+
+## Original software setup
+Setup Sofware
+- git clone https://github.com/JuliusSustarevas/ArmStone.git
+- git submodule update --recursive
+- git submodule update --init --recursive
+- catkin build
+- source devel/setup.bash
+- edit as_bringup as1.launch to enable the controls/modes you want
+- roslaunch as_bringup as1.launch
+
+### xARM
+Note that xarm payload is calibrated for  Armstone Extruder and you should recalibrate as needed via xarm firmware software. 
+
+ssh
+armstone@ArmStone1 (192.168.1.101)
+
+armstone@ArmStone2 (192.168.1.102)
+
+Enverything is in armstone folder
+
+### Docker
+Armstone uses persistent docker containers. I.e. there is one docker container that is started/stopped as needed but its the same container. 
+Original build and launch comments for the container are in as_docker
+
+### bashrc
+```
+  export ROS_IP=192.168.1.101
+  export ROS_MASTER_URI=http://192.168.1.101:11311  
+  source /opt/ros/melodic/setup.bash  
+  echo "CPU MODE:"
+  cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor  
+  #echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+```
+

as_bringup/launch/as1.launch

@@ -55,14 +55,5 @@
     </node>
 
   </group>
-
-  <!-- ###PMPC### -->
-  <!-- pmpc starts when you press and hold left trigger. It then acts like deadman switch. -->
-  <include if="$(arg xarm_on)" file="$(find perceptive_mpc)/launch/as_pmpc.launch">
-    <arg name="KINEMATIC_SIMULATION" value="false" />
-    <arg name="COLLISION_AVOIDANCE" value="false" />
-    <arg name="INTERACTIVE" value="true" />  
-    <arg name="sim" value="$(arg sim)" />  
-  </include>
 
 </launch>

as_ui/config/misc.joystick.yaml

@@ -8,7 +8,7 @@ scale_linear_turbo:
   x: 0.7
   y: 0.7
 axis_angular:
-  yaw: 2
+  yaw: 3
 scale_angular:
   yaw: 0.3
 scale_angular_turbo: