From ae43fbdee500c95353b8e53a011f810dcd3edd45 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 8 Sep 2023 14:57:16 +0200 Subject: [PATCH 1/2] Update underwater_vehicles.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- tutorials/underwater_vehicles.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index b9210618a9..44d6358949 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -57,7 +57,7 @@ rpm. Under the `` or `` 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. From 61e4af54c12767f23374c20b33252d2423816283 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 8 Sep 2023 21:37:42 +0200 Subject: [PATCH 2/2] Update tutorials/underwater_vehicles.md MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Ian Chen Signed-off-by: Alejandro Hernández Cordero --- tutorials/underwater_vehicles.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index 44d6358949..e26f52ae73 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -55,7 +55,7 @@ rpm. Under the `` or `` tag add the following: 0.2 ``` -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_thrust \ -m gz.msgs.Double -p 'data: -31'