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--- pycram:installation [2022/02/23 09:41] – created jdech
+++ pycram:installation [2022/08/26 09:43] – jdech
@@ Line 41: / Line 41: @@
 cd <Path to your ROS workspace>
 cd src/
-vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev-noetic/pycram.rosinstall
+vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram.rosinstall --recursive
+rosdep update
+rosdep install --ignore-src --from-paths . -r
+cd ..
+catkin_make
 </code>
@@ Line 82: / Line 86: @@
 source devel/local_setup.bash
 </code>
+===== Using PyCRAM =====
+To start using PyCRAM you first need to launch the ROS launch file. This launchfile is located in the directory "launch" and is named "ik_and_description.launch".
+The launchfile can be started with the following command:
+<code>
+roslaunch pycram ik_and_description.launch
+</code>
+What the launch file does is start a ROS master, upload the robot URDF to the parameter server as well as starting the IK solver.
+** Disclaimer **
+At the moment you also need a knowrob node running for PyCRAM to start. This is because while importing packages some will look for the rosprolog services. You don't need a belief state, it only requires the rosprolog services to be reachable.
+<html>
+<!---
 ===== PyCRAM on Ubuntu 18.04 (ROS Melodic) =====
@@ Line 150: / Line 172: @@
 catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.6
 </code>
+-->
+</html>