From 9ba37638367e6aa324694332dda5e1ebc2d27907 Mon Sep 17 00:00:00 2001 From: Olivier Stasse Date: Tue, 26 Sep 2023 04:31:42 +0200 Subject: [PATCH] Minor fixes in documentation (example_1 and example_12) (#361) * [example_1/doc] Specify that step 1 is optional. Two in * [example_12/README.md] Fix wrong title in README.md --------- Co-authored-by: Olivier Stasse (cherry picked from commit 40b92dd890eeb22d7c21210132feeed5b8c9b220) --- example_1/doc/userdoc.rst | 5 +++-- example_12/README.md | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index 62083311..48380024 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 diff --git a/example_12/README.md b/example_12/README.md index e6e0bbe7..c1f7b583 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).