X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=README;h=c2fd48224e42978c1296c8d60da96a669a76680f;hb=b4420a3d7f378a54a021786ec4bb64aa5181bd2f;hp=e0b0e77361ec97f872e679195722bb5f0974ddbc;hpb=62db1f65f66770cf047947c5b713ac57da68ac14;p=ros_roboint.git

diff --git a/README b/README
index e0b0e77..c2fd482 100644
--- a/README
+++ b/README
@@ -1,10 +1,16 @@
 README libroboint/Robo Explorer ROS Connector
 ==========
 This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using libroboint.
-It works with the Navigation Stack, the Laserscan is faked by the Sonar Sensor.
-
-You need to use Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
+Its is split in the Nodes:
+-libft_adapter: Accesses the Interface over libroboint.
+ Inputs are send via ft/get_inputs message.
+ Outputs are set with ft/set_output and ft/set_motor message.
+-robo_explorer.py: Provides the Robo Explorer functions:
+ Laserscan is faked by the Sonar Sensor.
+
+You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
 I used the Wheel Setup from Mobile Robots 2.
+The world frame is "odom" since this setup is running without SLAM and amcl.
 
 
 Requirements:
@@ -22,19 +28,17 @@ Please contact me for bugs or any suggestions
 
 Compiling/Installing:
 <---------->
-This is a catkin package, see generall ROS Documentation.
+This is a catkin package, see general ROS Documentation.
 
 
 Commands:
 <---------->
--When running a component (eg. rviz) remote:
-# export ROS_MASTER_URI=http://192.168.0.2:11311
-# export ROS_IP=$OWN_IP
 -Start Explorer:
 # roslaunch explorer_configuration.launch
--Start Navigation Stack:
-# roslaunch move_base.launch
 -Start RViz:
 # rosrun rviz rviz
 -Manually setting of Translation/Rotation speed:
-# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.0, 0, 0]' '[0, 0, 0.0]'
+ Forward:
+# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]'
+ Turn:
+# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]'