Unverified Commit f19790e3 authored by Denis Štogl's avatar Denis Štogl Committed by GitHub
Browse files

Update manual (#48)

parent 3dfe077e
......@@ -83,10 +83,10 @@ Each of the described example cases from the roadmap has its own launch and URDF
joint2/position
```
3. Open another terminal and load controllers:
3. Open another terminal and load, configure and start controllers:
```
ros2 control load joint_state_controller
ros2 control load forward_command_controller_position
ros2 control load_start joint_state_controller
ros2 control load_configure forward_command_controller_position
```
Check if controller is loaded properly:
......@@ -95,13 +95,13 @@ Each of the described example cases from the roadmap has its own launch and URDF
```
You should get the response:
```
joint_state_controller[joint_state_controller/JointStateController] inactive
joint_state_controller[joint_state_controller/JointStateController] active
forward_command_controller_position[forward_command_controller/ForwardCommandController] inactive
```
4. Starting controller:
```
ros2 control switch --start-controllers joint_state_controller forward_command_controller_position
ros2 control switch --start-controllers forward_command_controller_position
```
Check if controllers are activated:
......
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