From b238d44432624195d3663eb5abb0afa717bb4943 Mon Sep 17 00:00:00 2001 From: Bian Zekun <568574579@qq.com> Date: Fri, 14 Aug 2020 11:38:27 +0800 Subject: [PATCH] modified a little README --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index cb7282c..86dd0ae 100644 --- a/README.md +++ b/README.md @@ -131,10 +131,10 @@ You can control your real robot(only A1 and Aliengo) from ROS by this package. First you have to run the `real_launch` under root account: ``` sudo su -source ~/catkin_ws/devel/setup.bash +source /home/yourUserName/catkin_ws/devel/setup.bash roslaunch unitree_legged_real real.launch rname:=a1 ctrl_level:=highlevel firmwork:=3_2 ``` -These commands will launch a LCM server. The `rname` means robot name, which can be `a1` or `aliengo`(case does not matter), and the default value is `a1`. And the `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose. The `firmwork` means the firmwork version of the robot. The default value is `3_2` Now all the A1's firmwork version is `3_2`, and most Aliengo's firmwork version is `3_1`.(will update in the future) +Please watchout that the `/home/yourUserName` means the home directory of yourself. These commands will launch a LCM server. The `rname` means robot name, which can be `a1` or `aliengo`(case does not matter), and the default value is `a1`. And the `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose. The `firmwork` means the firmwork version of the robot. The default value is `3_2` Now all the A1's firmwork version is `3_2`, and most Aliengo's firmwork version is `3_1`.(will update in the future) To do so, you need to run the controller in another terminal(also under root account): ```