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Update doc
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christophfroehlich committed Mar 7, 2024
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19 changes: 16 additions & 3 deletions example_10/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -142,11 +142,16 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
flange_analog_IOs/analog_output1 [available] [claimed]
flange_vacuum/vacuum [available] [claimed]
Call ``ros2 topic echo /gpio_controller/inputs``
Call

.. code-block:: shell
ros2 topic echo /gpio_controller/inputs
again and you should see that the values are now ``nan`` except for the vacuum interface.

.. code-block:: shell
$ ros2 topic echo /gpio_controller/inputs
interface_names:
- flange_analog_IOs/analog_output1
- flange_analog_IOs/analog_input1
Expand All @@ -158,7 +163,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
- .nan
- 1.0
You can see that the values are now ``nan`` except for the vacuum interface, where an initial value of ``1.0`` is set in the URDF file.
For the vacuum interface, an initial value of ``1.0`` is set in the URDF file.

.. code-block:: xml
Expand All @@ -169,6 +174,14 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
</state_interface>
</gpio>
Call again

.. code-block:: shell
ros2 topic pub /gpio_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.5,0.7]}"
and you will see that the GPIO command interfaces will be mirrored to their respective state interfaces.

Files used for this demos
-------------------------

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