From 7541a50c6996ec9c654253b49a39ac5dd830e8ab Mon Sep 17 00:00:00 2001 From: Yannis Chatzikonstantinou Date: Wed, 20 Sep 2023 23:34:22 +0300 Subject: [PATCH] update readme --- README.md | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 0b914d7..d7181e3 100644 --- a/README.md +++ b/README.md @@ -41,19 +41,27 @@ catkin_make source devel/setup.bash ``` -## Usage +## Run the Diffbot demo! -1. Start the `tinymovr_joint_iface` node: +1. Ensure your Tinymovr instances are calibrated and well tuned, test functioning using Tinymovr Studio or CLI. + +2. Configure your hardware in `config/hardware.yaml` and diff drive config in `config/diff_drive_config.yaml` + +3. Start the `tinymovr_diffbot_demo_node` node: ```bash -roslaunch tinymovr_joint_iface tinymovr_joint_iface.launch +roslaunch tinymovr_ros tinymovr_diffbot_demo_node.launch ``` -2. Publish commands or subscribe to the relevant ROS topics for joint control and state information. +4. Spin up a keyboard teleop and drive your robot: + +```bash +rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel +``` ## Configuration -To customize the behavior of the `tinymovr_joint_iface`, adjust the parameters in the `config` directory. Here, you can set specifics about each joint, including joint names, IDs, and other parameters relevant to your hardware setup. +To customize the behavior of the Tinymovr ROS, adjust the parameters in the `config` directory. Here, you can set specifics about each joint, including joint names, IDs, and other parameters relevant to your hardware setup. ## API Documentation @@ -61,7 +69,7 @@ Further details about the API and individual functions can be found in the gener ## Contributing -Contributions to improve and expand the functionality of `tinymovr_joint_iface` are welcome! Please open an issue or submit a pull request on the GitHub repository. +Contributions to improve and expand the functionality of Tinymovr ROS are welcome! Please open an issue or submit a pull request on the GitHub repository. ## License