Add documentation on SDK installation and inital setup

README.md

@@ -1,17 +1,13 @@
 # Ovis
-
 This repo contains the files required to interact with Capra's Ovis 6DOF arm.
 
 ## Dependencies
-
 - [ros-industrial/robotiq](https://github.com/ros-industrial/robotiq) which use `robotiq_2f_140_gripper_visualization`
 - [clubcapra/jog_control](https://github.com/clubcapra/jog_control)
 - [kinova-ros](https://github.com/Kinovarobotics/kinova-ros)
 
 ### How to setup the dependancies
-
-
-In your workspace place git repository of the robotiq, kinova-ros and jogcontrol packages at the same level as the ovis package, so in the `src` folder. You can simply `git clone` the repository without issue. 
+In your workspace clone the git repository of the robotiq, kinova-ros and jogcontrol packages at the same level as the ovis package, so in the `src` folder. You can simply `git clone` the repository without issue. 
 
 For the **kinova-ros** repository make sure you have the `melodic-devel` branch select. When cloning you can use this command to make sure that you have the right branch checked out:
 ```bash
@@ -27,11 +23,68 @@ src/
     robotiq/
 ```
 
-### Launching the arm
-    roslaunch ovis_bringup kinova_driver.launch
+## Installing the JACO SDK
+To be able to communicate with the arm you first need to install the Kinova JACO SDK.
+
+You can find the SDK in the Club Capra Teams files in the Logiciel channel under the name [Kinova Windows & Linux SDK](https://etsmtl365.sharepoint.com/:f:/s/CLUB-Capra-GTO365/Eii1z9mHcN9Dvc0AyOcN3OYBYrsurvhW-9wYIrKGoaCG8Q?e=gsdTq0) (The link requires you to be inside ClubCapra's Teams)
+
+For Linux, the SDK is said to only support Ubuntu 16.04, **but it also work on Ubuntu 18.04**. This might become an issue if we decide to move to a newer version of Ubuntu/ROS. 
+
+To install the SDK please follow these steps : 
+1. Copy the `Kinova_sdk1.5.1.zip` from the Logiciel channel inside the folder `Kinova Windows & Linux SDK`.
+2. Unzip it how ever you want.
+   1. `unzip Kinova_sdk1.5.1.zip -d Kinova_sdk1.5.1`
+3. Change directory to `Kinova_sdk1.5.1/Ubuntu/16_04/64\ bits`
+   1. `cd Kinova_sdk1.5.1/Ubuntu/16_04/64\ bits`
+4. Change the execution permission on the `installSDK64.sh` script
+   1. `chmod +x installSDK64.sh`
+5. Then execute the script with `sudo`
+   1. `sudo ./installSDK64.sh`
+6. Enter your password
+7. Leave the setting by default and install the SDK
+
+## Moving the arm with DevelopmentCenter
+To verify that the installation was successful you can simply connect to the arm with a USB cable and turn on the power switch on the Kinova controller. Then launch the `DevelopmentCenter`. 
+
+1. Navigate to the location of the SDK installation and then into the `GUI` folder.
+   1. By default its going to be `/opt/JACO-SDK`
+   2. `cd /opt/JACO-SDK/GUI` 
+2. Then launch the `DevelopmentCenter` executable.
+   1. `./DevelopmentCenter`
+   2. WARNING, make sure you use the `DevelopmentCenter` and not the `DevelopmentCenter.sh`, since it was not tested.
+3. You will be presented with this window : 
+    ![DevelopmentCenter_with_annotation](/doc/img/DevelopmentCenter_with_annotation.png)
+    1. Make sure that the Ovis name is written at the top and that you have selected the `USB Enable`. This will make sure that the connection work properly.
+    2. If you're having issue with this part, please check the Troubleshooting the SDK section.
+4. Once inside the DevelopmentCenter window, select the `Virtual Joystick` under the TOOLS section.
+   1. Then you'll be presented with this window :
+      1. ![VirtualJoystick](/doc/img/VirtualJoystick.png)
+5. Now try and more the 3rd actuator by pressing the `+` sign
+6. Then the arm must of moved! 
+
+## Moving the arm with ROS
+There's more information to come on this part. 
+
+For now, the step are as follow : 
+1. Launch the kinova-ros with Ovis bringup launch file
+   1. `roslaunch ovis_bringup kinova_driver.launch`
+2. Then run the kinova-demo to make the arm move
+   1. This will more the 3rd actuator by 5 degree  
+   2. `rosrun kinova_demo joints_action_client.py -v -r c2s6s000 degree -- 0 0 5 0 0 0`
+
+### Troubleshooting
+1. If you're having issue connecting to the arm with the `DevelopmentCenter` or with `kinova-ros`, it might be because of two issue
+   1. First, it might be because the USB autosuspend is enable
+      1. Please follow this link for disabling it : https://askubuntu.com/questions/1140925/how-can-i-disable-usb-autosuspend-on-ubuntu-18-04/1161074#1161074
+   2. Second, it might be that you need to launch the DevelopmentCenter with root right. This can be fix in two method
+      1. Simply launch the `DevelopmentCenter` with `sudo`
+      2. Change the udev that was install with the SDK. This method is prefered since it is permenant
+         1. Inside your `/etc/udev` folder you'll find the file : `10-kinova-arm.rules`
+         2. Edit the file with sudo and change the `MODE:="666"` to `MODE:="777"`
+         3. This will allow anyone to have access to the arm
+            1. TODO in the future it would be better to have the user added into a group instead of changing the permission in the udev.
 
 ### Launch the simulation
-
     roslaunch ovis_gazebo gazebo.launch
     roslaunch ovis_moveit_config ovis_gazebo_demo.launch 
     roslaunch ovis_jog_launch ovis.launch