Darias-Setup-2020.md

 # Required Repositories
 
 ias_ros_core
+
 darias_core
-robcom_bridge
+
+## Todo's
+
+1. Set the SL IP in robcom_launch/launch/darias.launch to the SL pc (192.168.1.102)
+2. Set Password free SSH communication between all the PC in the workspace
+
+## Controlling Frameworks
+
+#### Init SL 
+
+In Bohr,
+
+```
+cd sl/build/sl_darias
+./xdarias
+```
+
+#### Initialize the robot
+
+in Cajal,
+
+```
+roslaunch darias_launch darias_init.launch
+```
+
+#### Initialize the rqt panel. 
+
+In Cajal, open rqt
+
+```
+rqt
+```
+
+in Plugins/Robot Tools/Darias Manager
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