Tutorial 1 issues

[Ozzigzach]

Hi there!

I was following along with tutorial_1_using_the_controller.md and noticed some minor issues.

---

This tutorial was following along with the reader in the creation of a config file (from step 2) in a new package called "my_dynamixel_project" but the launch file was reading the config file from "dynamixel_interface" in Step 3.

Original:

<launch>
  <node name="dynamixel_interface_node" pkg="dynamixel_interface" type="dynamixel_interface_controller_node" output="screen">
    <rosparam command="load" file="$(find dynamixel_interface)/config/controller_config.yaml" />
  </node>
</launch>

Proposed change:

<launch>
  <node name="dynamixel_interface_node" pkg="dynamixel_interface" type="dynamixel_interface_controller_node" output="screen">
    <rosparam command="load" file="$(find my_dynamixel_project)/config/controller_config.yaml" />
  </node>
</launch>

---

In Step 5 for controlling the dynamixels, the topics being published to are /desired_joint_state, rather than /desired_joint_states:

Originals:

rostopic pub /desired_joint_state sensor_msgs/JointState '{name: ['joint_1', 'joint_2'], position: [3, -3]}' --once

and

rostopic pub /desired_joint_state sensor_msgs/JointState '{name: ['joint_1', 'joint_2'], position: [0, 0], velocity: [0.5, 0.5]}' --once

Proposed changes:

rostopic pub /desired_joint_states sensor_msgs/JointState '{name: ['joint_1', 'joint_2'], position: [3, -3]}' --once

and

rostopic pub /desired_joint_states sensor_msgs/JointState '{name: ['joint_1', 'joint_2'], position: [0, 0], velocity: [0.5, 0.5]}' --once

Hope that was helpful!

Kind Regards, Zachary Bazyar