From 54f89463b0b0e128a7f79c9e58b9199dfd41aaab Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 5 Sep 2023 21:10:21 +0000 Subject: [PATCH] Fix thrust cmd topic in underwater tutorial Signed-off-by: Ian Chen --- tutorials/underwater_vehicles.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tutorials/underwater_vehicles.md b/tutorials/underwater_vehicles.md index dfed5a7d9a..ede396e9f5 100644 --- a/tutorials/underwater_vehicles.md +++ b/tutorials/underwater_vehicles.md @@ -55,9 +55,9 @@ 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_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.