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Fixed README typos

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Patrick Goebel 2015-12-13 16:40:26 -08:00
parent 812c4025f7
commit 413908c57c
1 changed files with 10 additions and 5 deletions
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README.md
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@ -479,9 +479,14 @@ where id is the index of the servo as defined in the Arduino sketch (servos.h)
ROS Joint Topics and Services
-----------------------------
At the ROS level, a servo is called a joint and each joint has its own topics and services. For example, a joint called head_pan_joint in the YAML config file can be controlled using the topic:
At the ROS level, a servo is called a joint and each joint has its own topics and services. To change the position of a joint, publish the position
in radians to the topic:
/head_pan_joint/command
**/\<joint_name\>/command**
For example, a joint called head_pan_joint in the YAML config file can be controlled using the topic:
**/head_pan_joint/command**
which takes a Float64 argument specifying the desired position in radians. For example, the command:
@ -493,15 +498,15 @@ will move the servo to angle 1.0 radians from the neutral point; i.e. about 147
A number of services are also available for each joint:
**/<joint_name>/enable** - Enable or disable a joint. Disabling also detachs the underlying servo so that it can be moved by hand.
**/\<joint_name\>/enable** - Enable or disable a joint. Disabling also detachs the underlying servo so that it can be moved by hand.
$ rosservice call /head_pan_joint/enable false
**/<joint_name>/relax** - Another way to detach the underlying servo so that it can be moved by hand.
**/\<joint_name\>/relax** - Another way to detach the underlying servo so that it can be moved by hand.
$ rosservice call /head_pan_joint/relax
**/<joint_name>/set_speed** - Set the movement speed of servo in radians per second.
**/\<joint_name\>/set_speed** - Set the movement speed of servo in radians per second.
$ rosservice call /head_pan_joint/set_speed 1.0