From 98a5c99cdfa333f9703f60d319556e173f4d91ec Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Thu, 3 Aug 2023 14:45:55 -0400 Subject: [PATCH] remove r6bot_kinematics.gv and fix grammar --- example_7/doc/resources/r6bot_kinematics.gv | 32 --------------------- example_7/doc/userdoc.rst | 6 ++-- 2 files changed, 3 insertions(+), 35 deletions(-) delete mode 100644 example_7/doc/resources/r6bot_kinematics.gv diff --git a/example_7/doc/resources/r6bot_kinematics.gv b/example_7/doc/resources/r6bot_kinematics.gv deleted file mode 100644 index ba45e06e5..000000000 --- a/example_7/doc/resources/r6bot_kinematics.gv +++ /dev/null @@ -1,32 +0,0 @@ -digraph G { -node [shape=box]; -"world" [label="world"]; -"base_link" [label="base_link"]; -"link_1" [label="link_1"]; -"link_2" [label="link_2"]; -"link_3" [label="link_3"]; -"link_4" [label="link_4"]; -"link_5" [label="link_5"]; -"link_6" [label="link_6"]; -"ft_frame" [label="ft_frame"]; -"tool0" [label="tool0"]; -node [shape=ellipse, color=blue, fontcolor=blue]; -"world" -> "base_joint" [label="xyz: 0 0 0 \nrpy: 0 -0 0"] -"base_joint" -> "base_link" -"base_link" -> "joint_1" [label="xyz: 0 0 0.061584 \nrpy: 0 -0 0"] -"joint_1" -> "link_1" -"link_1" -> "joint_2" [label="xyz: -0.101717 0 0.182284 \nrpy: -1.5708 -1.0472 1.5708"] -"joint_2" -> "link_2" -"link_2" -> "joint_3" [label="xyz: 0.685682 0 0.041861 \nrpy: 3.14159 1.22465e-16 1.5708"] -"joint_3" -> "link_3" -"link_3" -> "joint_4" [label="xyz: 0.518777 0 0.067458 \nrpy: -3.14159 1.22465e-16 0.523599"] -"joint_4" -> "link_4" -"link_4" -> "joint_5" [label="xyz: 0.112654 0 0.110903 \nrpy: -1.5708 1.11022e-16 -1.5708"] -"joint_5" -> "link_5" -"link_5" -> "joint_6" [label="xyz: -0.085976 0 0.133436 \nrpy: 0 -1.5708 0"] -"joint_6" -> "link_6" -"link_6" -> "joint-ft_frame" [label="xyz: 0 0 0 \nrpy: 0 -0 0"] -"joint-ft_frame" -> "ft_frame" -"ft_frame" -> "joint-tool" [label="xyz: 0 0 0.185 \nrpy: 0 -0 0"] -"joint-tool" -> "tool0" -} diff --git a/example_7/doc/userdoc.rst b/example_7/doc/userdoc.rst index 78f3d5f87..078e7cad6 100644 --- a/example_7/doc/userdoc.rst +++ b/example_7/doc/userdoc.rst @@ -159,7 +159,7 @@ In ros2_control, hardware system components are integrated via user defined driv The following code blocks will explain the requirements for writing a new hardware interface. -The hardware plugin for the tutorial robot is class called ``RobotSystem`` that inherits from ``hardware_interface::SystemInterface``. The ``SystemInterface`` is one of the offered hardware interfaces designed for a complete robot system. For example, The UR5 uses this interface. The ``RobotSystem`` must implement five public methods. +The hardware plugin for the tutorial robot is a class called ``RobotSystem`` that inherits from ``hardware_interface::SystemInterface``. The ``SystemInterface`` is one of the offered hardware interfaces designed for a complete robot system. For example, The UR5 uses this interface. The ``RobotSystem`` must implement five public methods. 1. ``on_init`` 2. ``export_state_interfaces`` @@ -253,7 +253,7 @@ Finally, all ros2_control plugins should have the following two lines of code at Plugin description file ************************ -The plugin description file is a required XML file that describes a plugin's library name, class type, namespace, description, and interface type. This file allows the ROS 2 to automatically discover and load plugins.It is formatted as follows. +The plugin description file is a required XML file that describes a plugin's library name, class type, namespace, description, and interface type. This file allows the ROS 2 to automatically discover and load plugins. It is formatted as follows. .. code-block:: xml @@ -310,7 +310,7 @@ Certain interface methods are called during transitions between these states. Du The following code blocks will explain the requirements for writing a new hardware interface. -The controller plugin for the tutorial robot is class called ``RobotController`` that inherits from ``controller_interface::ControllerInterface``. The ``RobotController`` must implement nine public methods. The last six are `managed node `__ transitions callbacks. +The controller plugin for the tutorial robot is a class called ``RobotController`` that inherits from ``controller_interface::ControllerInterface``. The ``RobotController`` must implement nine public methods. The last six are `managed node `__ transitions callbacks. 1. ``command_interface_configuration`` 2. ``state_interface_configuration``