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Minor fixes in documentation (example_1 and example_12) (backport #361) #363

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Sep 26, 2023
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Minor fixes in documentation (example_1 and example_12) (backport #361) #363

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5 changes: 3 additions & 2 deletions example_1/doc/userdoc.rst
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Expand Up @@ -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

Expand All @@ -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

Expand All @@ -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
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2 changes: 1 addition & 1 deletion example_12/README.md
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@@ -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).
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