From e7699864ee0afd1848e1afcf93702a63ae92d63d Mon Sep 17 00:00:00 2001 From: Olivier Stasse Date: Mon, 25 Sep 2023 21:43:17 +0200 Subject: [PATCH 1/2] [example_1/doc] Specify that step 1 is optional. Two in --- example_1/doc/userdoc.rst | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index 620833119..48380024b 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -24,7 +24,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder. Tutorial steps -------------------------- -1. To check that *RRBot* descriptions are working properly use following launch commands +1. (Optional) To check that *RRBot* descriptions are working properly use following launch commands .. code-block:: shell @@ -50,6 +50,7 @@ Tutorial steps rviz2 --display-config `ros2 pkg prefix ros2_control_demo_example_1`/share/ros2_control_demo_example_1/rviz/rrbot.rviz + Once it is working you can stop rviz using CTRL+C as the next launch file is starting RViz. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -61,7 +62,7 @@ Tutorial steps In starting terminal you will see a lot of output from the hardware implementation showing its internal states. This is only of exemplary purposes and should be avoided as much as possible in a hardware interface implementation. - If you can see two orange and one yellow rectangle in in *RViz* everything has started properly. + If you can see two orange and one yellow rectangle in *RViz* everything has started properly. Still, to be sure, let's introspect the control system before moving *RRBot*. 3. Check if the hardware interface loaded properly, by opening another terminal and executing From 50a9090bc93d3928df5804178a9decdbae2f9106 Mon Sep 17 00:00:00 2001 From: Olivier Stasse Date: Mon, 25 Sep 2023 21:44:05 +0200 Subject: [PATCH 2/2] [example_12/README.md] Fix wrong title in README.md --- example_12/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/example_12/README.md b/example_12/README.md index e6e0bbe7e..c1f7b5836 100644 --- a/example_12/README.md +++ b/example_12/README.md @@ -1,5 +1,5 @@ # ros2_control_demo_example_12 - This example demonstrates the switching between simulation and real hardware by means of the *RRBot* - or ''Revolute-Revolute Manipulator Robot''. + This example shows how to write a simple chainable controller, and how to integrate it properly to have a functional controller chaining. Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_12/doc/userdoc.html).