From 45a81b7f9892dcacd69a04c4eb70b19818d74b61 Mon Sep 17 00:00:00 2001
From: harleylara <harley.lara@outlook.com>
Date: Mon, 11 Dec 2023 02:25:34 +0100
Subject: [PATCH] add dependencies and update readme

---
 README.md                      | 27 +++++++++++++++++++++++----
 solo12_bringup/package.xml     | 10 ++++++++++
 solo12_description/README.md   |  2 ++
 solo12_description/package.xml |  9 ++++++---
 4 files changed, 41 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 81e80e6..b4c7240 100644
--- a/README.md
+++ b/README.md
@@ -2,13 +2,32 @@
 
 Base code for Nala robot (SOLO12 robot from Open Dynamic Robot Initiative)
 
+## Installation
 
-## Installation (Standalone)
+Install the required dependencies by runing the following command the in ROOT directory of your workspace:
 
-> This installation do not requerire ROS
+```bash
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+## Usage
+
+To launch the system use:
+
+```bash
+ros2 launch solo12_bringup robot.launch.py
+```
+
+Launch arguments:
+- `stand`: Spawn robot on stand (default false).
+- `use_rviz`: Run rviz (default true).
 
-from the `ROOT` folder of this repo:
+Example:
 
 ```
-bash script/install.sh
+ros2 launch solo12_bringup robot.launch.py stand:=true use_rviz:=false
 ```
+
+## Packages
+
+For information about packages, please refer the `README.md` file of each package.
diff --git a/solo12_bringup/package.xml b/solo12_bringup/package.xml
index 35b9b37..9301ea6 100644
--- a/solo12_bringup/package.xml
+++ b/solo12_bringup/package.xml
@@ -9,6 +9,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>solo12_description</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/solo12_description/README.md b/solo12_description/README.md
index 124759c..38a4f3f 100644
--- a/solo12_description/README.md
+++ b/solo12_description/README.md
@@ -1 +1,3 @@
 # `solo12_description`
+
+TODO
diff --git a/solo12_description/package.xml b/solo12_description/package.xml
index e439e8f..75c7a5a 100644
--- a/solo12_description/package.xml
+++ b/solo12_description/package.xml
@@ -9,11 +9,14 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>