Unverified Commit f19790e3 authored by Denis Štogl's avatar Denis Štogl Committed by GitHub
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Update manual (#48)

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