update README and modify launch

CHNAGELOG.md

@@ -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.

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

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>