Update underwater_vehicles.md (#2128)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Sep 8, 2023 · 5fbfcf7 · 5fbfcf7
1 parent 235efd3
commit 5fbfcf7
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md
@@ -55,9 +55,9 @@ rpm. Under the `<include>` or `<model>` tag add the following:
     <propeller_diameter>0.2</propeller_diameter>
 </plugin>
 ```
-Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_pos`
+Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_thrust`
 ```
-gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \
+gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
    -m gz.msgs.Double -p 'data: -31'
 ```
 we should see the model move. The thrusters are governed by the equation on
@@ -185,7 +185,7 @@ gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
 ```
 To apply a thrust you may run the following command
 ```
-gz topic -t /model/tethys/joint/propeller_joint/cmd_pos \
+gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
 -m gz.msgs.Double -p 'data: -31'
 ```
 The vehicle should move in a circle.