X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=README;h=b14225f742f52b1896f0107f5aace34476be0a84;hb=562300f16b1b50ed1b730dceb0bf1e39797677fb;hp=c5ea4353f37f33a86e4c6727f2f9889f9da6e4f2;hpb=d92b24d6eb3acc301f4f384fc40263f0444ed553;p=ros_roboint.git

diff --git a/README b/README
index c5ea435..b14225f 100644
--- a/README
+++ b/README
@@ -6,10 +6,10 @@ Its is split in the Nodes:
  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:
@@ -32,13 +32,8 @@ 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:
@@ -46,5 +41,3 @@ Commands:
 # 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]'
--Keyboard Control:
-# rosrun pr2_teleop teleop_pr2_keyboard