Documentation.

Author: aentinger

Diff for: examples/ROS2_Braccio_Driver/README.md

@@ -1,16 +1,43 @@
 :floppydisk: `ROS2_Braccio_Driver`
 ==================================
+#### How-to-install
+* Install [ROS2 Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
+* Install [colcon](https://colcon.readthedocs.io/en/released/user/installation.html)
+* Install/Setup [Micro-ROS](https://micro.ros.org/docs/tutorials/core/teensy_with_arduino)
 
-
-### Install
-#### ROS2 Galactic
-https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
-#### Install colcon
-https://colcon.readthedocs.io/en/released/user/installation.html
-#### Micro-ROS Tooling
-https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/
-
-
-the final command to start the partner tool
-
+#### Compile and Upload
+```bash
+arduino-cli compile -b arduino:mbed_nano:nanorp2040connect -v examples/ROS2_Braccio_Driver
+arduino-cli upload -b arduino:mbed_nano:nanorp2040connect -v examples/ROS2_Braccio_Driver -p /dev/ttyACM0
+```
+#### Run Micro-ROS Agent
+```bash
+cd microros_ws
+source /opt/ros/galactic/setup.bash
+source install/local_setup.bash
 ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
+```
+#### View available ROS topics
+```bash
+source /opt/ros/galactic/setup.bash
+ros2 topic list
+  /braccio_joint_state_actual
+  /parameter_events
+  /rosout
+```
+#### View published JointStates
+```bash
+source /opt/ros/galactic/setup.bash
+ros2 topic echo /braccio_joint_state_actual
+...
+    header:
+    stamp:
+        sec: 44
+        nanosec: 1567475040
+    frame_id: base
+    name: [base, shoulder, elbow, wrist_roll, wrist_pitch, pinch]
+    position: [90.32624816894531, 156.71249389648438, 156.3975067138672, 157.34249877929688, 24.885000228881836, 153.7987518310547]
+    velocity: []
+    effort: []
+...
+```

Diff for: examples/ROS2_Braccio_Driver/ROS2_Braccio_Driver.ino

@@ -73,11 +73,11 @@ void setup()
     &joint_state_publisher,
     &node,
     ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, JointState),
-    "braccio_plusplus_node_joint_state_publisher"));
+    "/braccio_joint_state_actual"));
 
   /* Initialize JointState message. */
   rosidl_runtime_c__String__init  (&joint_state_msg.header.frame_id);
-  rosidl_runtime_c__String__assign(&joint_state_msg.header.frame_id, "/braccio_plusplus_joint_state");
+  rosidl_runtime_c__String__assign(&joint_state_msg.header.frame_id, "base");
 
   {
     static rosidl_runtime_c__String joint_state_msg_name[SmartServoClass::NUM_MOTORS];