From 71c162b6598bf904658d70abaff734fb89c3f0c4 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommmy.persson@liu.se>
Date: Tue, 29 Sep 2020 10:14:31 +0200
Subject: [PATCH] Work with depot

---
 doc/local_ros_installation.md | 25 ++++++++++++++++++++++---
 1 file changed, 22 insertions(+), 3 deletions(-)

diff --git a/doc/local_ros_installation.md b/doc/local_ros_installation.md
index f880ba3..1d465ed 100644
--- a/doc/local_ros_installation.md
+++ b/doc/local_ros_installation.md
@@ -326,7 +326,15 @@ wexec roslaunch lrs_launch djisimtst.launch simulator:=false ns:=/dji0
 
 ## Flying with Gamepad
 
-For this case it is more convenient to runt the roscore on the local machine.
+For this case it is more convenient to runt the roscore on the local machine:
+```bash
+roscore
+```
+
+And start the container as:
+```bash
+wgrun bash
+```
 
 On the local machine run the joy ros node:
 
@@ -352,5 +360,16 @@ usb-Logitech_Wireless_Gamepad_F710_2CAE9E79-joystick
 
 Start the ROS driver for a joystick:
 ```bash
-rosrun joy joy_node _dev:=/dev/input/by-id/${JOY_EXTRA0} _deadzone:=0.05 _autorepeat_rate:=0 _coalesce_interval:=0.1 __ns:=/extra0"
-```
\ No newline at end of file
+rosrun joy joy_node _dev:=/dev/input/by-id/${JOY_EXTRA0} _deadzone:=0.05 _autorepeat_rate:=0 _coalesce_interval:=0.1 __ns:=/extra0
+```
+
+Setup the simulation:
+```bash
+wexec roslaunch lrs_launch config.launch location:=granso no_airspace_booking:=true ns:=/dji0
+wexec roslaunch lrs_launch djisimtst.launch dynamics:=true publish_pose:=true mpc:=true inair:=true ns:=/dji0
+```
+
+Start the joysick controller:
+```bash
+wexec rosrun lrs_dji_sim joypose.py __ns:=/dji0
+```
-- 
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