Merge pull request #2 from paolofrance/devel

paolo: update readme

README.md

@@ -6,23 +6,32 @@ This package implements ros2 hardware interface for the CRX family Fanuc robots.
 
 ## Installation guidelines
 
+### Prerequisites - EIPScanner
+The communication between the external pc and the Fanuc controller happens by means of the [Ethernet/IP](https://en.wikipedia.org/wiki/EtherNet/IP) protocol. 
+In particular, this package relies on the implementation provided in [EIPScanner](https://eipscanner.readthedocs.io/en/latest/).  
+Please, follow the instructoins [here](https://eipscanner.readthedocs.io/en/latest/getting_started.html#installing) to install it.
+
+NOTE: a previous version of this driver used a python driver for the Ethernet/IP communication. Please refer to the [python-driver](https://github.com/paolofrance/ros2_fanuc_interface/tree/python-driver) branch.
+
+### Package installation
+
 To install the current package just
 ```console
 $ cd <to-your-src>
 $ git clone https://github.com/paolofrance/ros2_fanuc_interface
 ```
-you should be ready to test the basic ros2-fanuc interface by publishing topics.
 
-To use it with the [ros2_control](https://control.ros.org/master/index.html) framework, additional Moveit! and description packages are required. 
-Download the packages
+To use it with the [ros2_control](https://control.ros.org/master/index.html) framework, additional [Moveit!](https://moveit.picknik.ai/main/index.html) and description packages are required. Download the packages
 ```console
 $ git clone https://github.com/paolofrance/crx20_moveit_config
 $ git clone https://github.com/paolofrance/crx_description
 $ cd ..
 $ colcon build --symlink-install
 ```
-To complete the setup the [Moveit!2](https://moveit.picknik.ai/main/index.html) and the [ros2_control](https://control.ros.org/master/index.html) are expected to be running.
-If some error appears, please check their installation and install them.
+
+The Moveit! package is currently available for the [crx-20ial](https://www.fanuc.eu/ch/it/robot/robot-filter-page/robot-collaborativi/crx-20ial) robot only.
+
+If some error appears, please check the Moveit! and ros2_control installation.
 ```console
 $ sudo apt update
 $ sudo apt upgrade
@@ -31,7 +40,11 @@ $ sudo apt install ros-<distro>-ros2-control
 $ sudo apt install ros-<distro>-ros2-controllers
 ```
 
-## usage
+### TP program installation
+
+To actually move the robot, an easy teach-pendant (TP) program is required. The current version of the driver does not include it, but will be included in future releases.
+
+## Usage
 
 To use it open a terminal and do the following command:
 
@@ -57,8 +70,8 @@ list of known todos and desiderata:
 2. implementation of the Fanuc RMI to remove the need for TP programs
 
 ## Contacts
-[email protected]  
-vincenzo.pomponi@supsi.ch  
-stefano.baraldo@supsi.ch  
+Ros developer: [email protected]  
+TP fanuc developer: stefano.baraldo@supsi.ch  
+Tester and user: vincenzo.pomponi@supsi.ch