Merge ae43fbd into 923ccee

gazebosim · Sep 8, 2023 · 41e918f · 41e918f
2 parents 923ccee + ae43fbd
commit 41e918f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md
@@ -57,7 +57,7 @@ rpm. Under the `<include>` or `<model>` tag add the following:
 ```
 Now if we were to publish to `/model/tethys/joint/propeller_joint/cmd_pos`
 ```
-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.