From fef7f4fece15476b20246e4a8ba96b5859b570c0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= Date: Thu, 30 May 2019 17:44:17 +0200 Subject: [PATCH] README: update ROS API --- README.md | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 61ffe52..97a873a 100644 --- a/README.md +++ b/README.md @@ -8,9 +8,13 @@ Target velocity of the Rover. Only linear.x (m/s) and angular.z (r/s) are used. -* **`servoX/command`** ([std_msgs/Int16]) +* **`servoX/angle`** ([std_msgs/Int16]) - Angular position (in degrees) of servo X + Angular position (in degrees) of servo X. Angle to pulse duration relationship is configurable through `params.h` file + +* **`servoX/pwm`** ([std_msgs/UInt16MultiArray]) + + Pulse duration and period (in us). The values are passed through `data` array. Publishing to pwm topic overrides angle value and vice versa ### Published topics @@ -18,10 +22,11 @@ Current linear and angular velocities estimated from encoder readings -* **`battery`** ([sensor_msgs/BatteryState]) +* **`battery`** ([std_msgs/Float32]) Current battery voltage reading [geometry_msgs/Twist]: http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html [std_msgs/Int16]: http://docs.ros.org/melodic/api/std_msgs/html/msg/Int16.html -[sensor_msgs/BatteryState]: http://docs.ros.org/melodic/api/sensor_msgs/html/msg/BatteryState.html \ No newline at end of file +[std_msgs/Float32]: http://docs.ros.org/api/std_msgs/html/msg/Float32.html +[std_msgs/UInt16MultiArray]: http://docs.ros.org/api/std_msgs/html/msg/UInt16MultiArray.html \ No newline at end of file