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Add missing description of subscribed topics and parameters to README.
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@aentinger
aentinger committed Nov 12, 2023
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Expand Up @@ -27,8 +27,22 @@ ros2 launch t07_ros t07.py
| Default name | Type |
|:------------:|:------------------------------------------------------------------------------:|

##### Subscribed Topics
| Default name | Type | Description |
|:---------------------:|:-------------------:|------------------------------|
| `/motor/left/target` | `std_msgs/Float32` | Motor left set-point in m/s |
| `/motor/right/target` | `std_msgs/Float32` | Motor right set-point in m/s |

##### Parameters
| Name | Default | Description |
|:-------------:|:-------:|---------------------------|
| `can_iface` | `can0` | Network name of CAN bus. |
| `can_node_id` | 100 | Cyphal/CAN node id. |
| Name | Default | Description |
|:----------------------------------------------:|:--------------------:|-------------------------------------------------------------------------|
| `can_iface` | `can0` | Network name of CAN bus. |
| `can_node_id` | 100 | Cyphal/CAN node id. |
| `motor_left_topic` | `motor/left/target` | |
| `motor_left_topic_deadline_ms` | 100 | |
| `motor_left_topic_liveliness_lease_duration` | 1000 | |
| `motor_left_pwm_port_id` | 600 | Cyphal port ID for CyphalRobotController/CAN motor left PWM messages. |
| `motor_right_topic` | `motor/right/target` | |
| `motor_right_topic_deadline_ms` | 100 | |
| `motor_right_topic_liveliness_lease_duration` | 1000 | |
| `motor_right_pwm_port_id` | 600 | Cyphal port ID for CyphalRobotController/CAN motor right PWM messages. |

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