From 5a04d76d9f5fcac7b0a38f87c8311dc06e428714 Mon Sep 17 00:00:00 2001
From: zachary <zachary>
Date: Fri, 30 Apr 2021 10:54:22 +0800
Subject: [PATCH] update README and modify launch

---
 README.md                             | 40 +++++++++++++++++++++++++++
 launch/mycobot_teleop_keyboard.launch |  4 +--
 2 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 0f46a59..113bcf6 100644
--- a/README.md
+++ b/README.md
@@ -132,6 +132,46 @@ python scripts/test.py
   rosrun myCobotROS display.py
   ```
 
+- **Open the keyboard controller**
+
+  - launch
+
+  ```
+  roslaunch myCobotROS mycobot_teleop_keyboard.launch PORT:=/dev/ttyUSB0
+  ```
+
+  - open another terminal run script
+
+  ```
+  rosrun myCobotROS teleop_keyboard.py _speed:=60 _change_size:=10
+  ```
+
+  Then you will see this:
+
+  ```
+  Mycobot Teleop Keyboard Controller
+  ---------------------------
+  Movimg options(control coord [x,y,z,rx,ry,rz]):
+                w(x+)
+  
+      a(y-)     s(x-)     d(y+)
+  
+  u(rx+)   i(ry+)   o(rz+)
+  j(rx-)   k(ry-)   l(rz-)
+  
+  Gripper control:
+      g - open
+      h - close
+  
+  Other:
+      1 - Go to init pose
+      2 -
+      3 -
+      q - Quit
+  
+  currently:      speed 50        change size 10 
+  ```
+
 <!-- If you use the above command, then you may need to manually add some model components. If you don't want to be so troublesome, you can use the following command to load a saved **myCobot** model.
 
 ```bash
diff --git a/launch/mycobot_teleop_keyboard.launch b/launch/mycobot_teleop_keyboard.launch
index 4f78f35..66d55ed 100644
--- a/launch/mycobot_teleop_keyboard.launch
+++ b/launch/mycobot_teleop_keyboard.launch
@@ -14,8 +14,8 @@
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
     <include file="$(find myCobotROS)/launch/communication_service.launch">
-		<param name="port" type="string" value="$(arg PORT)" />	
-		<param name="baud" type="int" value="$(arg BAUD)" />	
+		<arg name="PORT" value="$(arg PORT)" />	
+		<arg name="BAUD" value="$(arg BAUD)" />	
     </include>
 	<node name="real_listener" pkg="myCobotROS" type="listen_real.py" />
 </launch>