From 7da31f6034ff16ebf8bc68c54fae18254ecd5803 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

---
 CHNAGELOG.md                          | 21 --------------
 README.md                             | 40 +++++++++++++++++++++++++++
 launch/mycobot_teleop_keyboard.launch |  4 +--
 3 files changed, 42 insertions(+), 23 deletions(-)
 delete mode 100644 CHNAGELOG.md

diff --git a/CHNAGELOG.md b/CHNAGELOG.md
deleted file mode 100644
index 6d90855..0000000
--- a/CHNAGELOG.md
+++ /dev/null
@@ -1,21 +0,0 @@
-# 2021.1.9
-
-Fix the API problem that `is_moving()` and other methods of mycobot cannot be used.
-
-# 2021.1.8
-
-Python API add new methods:
-
-- `jog_angle()`
-- `jog_coord()`
-- `jog_stop()`
-
-# 2020.12.30
-
-Adding usage documents to Python API.
-
-# 2020.12.29
-
-Python API supports python2.7
-
-Modify the serial port to manual setting, support the use of window.
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>