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Add config to container and documentation

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This commit is contained in:
Nicolas Hiillos
2023-04-28 12:16:11 +03:00
parent 45a3a3ac4d
commit d3e533fdde
2 changed files with 6 additions and 4 deletions
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8
README.md
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@@ -79,22 +79,22 @@ AxidrawController draws on the axidraw robot.
Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0.
Try a different serial port if the axidraw_controller continuously logs a message about failing to connect.
``` sh
ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0
ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml
```
This starts the simulated lite6
``` sh
ros2 launch lite6_controller lite6_gazebo.launch.py
ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml
```
This runs the real lite6
``` sh
ros2 launch lite6_controller lite6_real.launch.py
ros2 launch lite6_controller lite6_real.launch.py config:=./config.yaml
```
This runs the real lite6 without Rviz (can be run on headless device over ssh)
``` sh
ros2 launch lite6_controller lite6_real_no_gui.launch.py
ros2 launch lite6_controller lite6_real_no_gui.launch.py config:=./config.yaml
```
### DrawingController