depend robo_explorer_hardware on messages

[ros_roboint.git] / README

diff --git a/README b/README
index 496dc1c1fafdd115270b8710a606e6170ca248f9..1bf537ffdd1dc16a66030b6973dc5e0abe18f28b 100644 (file)
--- a/README
+++ b/README
@@ -1,20 +1,24 @@
 README libroboint/Robo Explorer ROS Connector
 ==========
-This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using libroboint.
-Its is split in the Nodes:
+This contains a ROS package to control the fischertechnik Robo Explorer with ROS using libroboint.
+Its is split in the following 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.
+-robo_explorer_hardware: Hardware functions for the ros_control DiffDriveController
+-robo_explorer.py: Provides additional Robo Explorer functions, e.g. sensors
 
-You need to use 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 of the navigation setup is "odom" since this robot is running without SLAM and amcl.
+
+Hardware setup:
+<---------->
+You need to use the Robo Explorer with wheels instead of tracks because the tracks are too inaccurate for Odometry.
+I used the two wheel Setup from Mobile Robots 2.
 
 
 Requirements:
 <---------->
-ROS - http://www.ros.org tested under Groovy
+ROS - http://www.ros.org tested under Groovy, Indigo, Kinetic
 libroboint - http://defiant.homedns.org/~erik/ft/libft/
 
 
@@ -22,24 +26,20 @@ Author:
 <---------->
 Erik Andresen - erik@vontaene.de
 
-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]'