diff --git a/CODE_OF_CONDUCT_CN.md b/CODE_OF_CONDUCT_CN.md index e089d59..ebb9d0a 100644 --- a/CODE_OF_CONDUCT_CN.md +++ b/CODE_OF_CONDUCT_CN.md @@ -47,7 +47,7 @@ 社区影响指南受到了[Mozilla 的行为准则执行阶梯][mozilla coc]的启发。 -有关本行为准则的常见问题，请参阅[FAQ][https://www.contributor-covenant.org/faq]。翻译版本可在[https://www.contributor-covenant.org/translations][translations]获取。 +有关本行为准则的常见问题，请参阅 [FAQ][faq]。翻译版本可在 [translations][translations] 获取。 [homepage]: https://www.contributor-covenant.org [version]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html diff --git a/modules/atom01_deploy/README.md b/modules/atom01_deploy/README.md index 8420c30..4d39b2d 100644 --- a/modules/atom01_deploy/README.md +++ b/modules/atom01_deploy/README.md @@ -108,7 +108,7 @@ source install/setup.bash ros2 launch hipnuc_imu imu_spec_msg.launch.py ``` -If IMU serial port permissions are normal, you can see IMU data using plotjunggler or ros2 topic echo. +If IMU serial port permissions are normal, you can see IMU data using PlotJuggler or `ros2 topic echo`. ### MOTORS @@ -137,13 +137,13 @@ ros2 service call /set_zeros motors/srv/SetZeros Observe that the motor green lights turn off one by one, indicating zeroing is in progress. -After zeroing is complete, restart motors and open plotjunggler, subscribe to motor state topics and input: +After zeroing is complete, restart motors and open PlotJuggler, subscribe to motor state topics and input: ```bash ros2 service call /read_motors motors/srv/ReadMotors ``` -At this time, you can see the current position of each motor in plotjunggler. Ensure there are no reversed joints and all are near zero point, then input: +At this time, you can see the current position of each motor in PlotJuggler. Ensure there are no reversed joints and all are near zero point, then input: ```bash ros2 service call /reset_motors motors/srv/ResetMotors diff --git a/modules/atom01_deploy/README_CN.md b/modules/atom01_deploy/README_CN.md index 65f9b39..8d99feb 100644 --- a/modules/atom01_deploy/README_CN.md +++ b/modules/atom01_deploy/README_CN.md @@ -56,7 +56,7 @@ orangepi - memlock unlimited 保存退出后重启香橙派使设置生效。 -## 硬件链接 +## 硬件连接 电机驱动中can0对应左腿，can1对应右腿加腰，can2对应左手，can3对应右手，默认按照usb转can插入上位机顺序编号，先插入的是can0。建议将USB转CAN插在上位机的3.0接口上，如果使用USB扩展坞也请使用3.0接口的USB扩展坞并插在3.0接口上，IMU和手柄插在USB2.0接口即可。 @@ -108,7 +108,7 @@ source install/setup.bash ros2 launch hipnuc_imu imu_spec_msg.launch.py ``` -如果IMU串口权限正常，使用plotjunggler或者ros2 topic echo可以看到IMU数据。 +如果IMU串口权限正常，使用 PlotJuggler 或者 `ros2 topic echo` 可以看到IMU数据。 ### MOTORS @@ -137,13 +137,13 @@ ros2 service call /set_zeros motors/srv/SetZeros 观察到电机绿灯一个个灭下说明正在标零。 -标零完成后重新启动motors并打开plotjunggler，订阅电机state话题后输入： +标零完成后重新启动 motors 并打开 PlotJuggler，订阅电机 state 话题后输入： ```bash ros2 service call /read_motors motors/srv/ReadMotors ``` -此时在plotjunggler中可以看到各个电机此时位置，保证没有反向关节且都在零点附近后输入： +此时在 PlotJuggler 中可以看到各个电机此时位置，保证没有反向关节且都在零点附近后输入： ```bash ros2 service call /reset_motors motors/srv/ResetMotors diff --git a/modules/atom01_description/README.md b/modules/atom01_description/README.md index 44da06b..86d3c19 100644 --- a/modules/atom01_description/README.md +++ b/modules/atom01_description/README.md @@ -1,3 +1,5 @@ -There are the description files of Atom01, a product of Roboparty. +# Atom01 Description -![Atom01 URDF 模型](atom01_urdf.png) +These are the description files of Atom01, a product of Roboparty. + +![Atom01 URDF](atom01_urdf.png) diff --git a/modules/atom01_train/README_CN.md b/modules/atom01_train/README_CN.md index 9995bd3..a151f8b 100644 --- a/modules/atom01_train/README_CN.md +++ b/modules/atom01_train/README_CN.md @@ -48,6 +48,7 @@ pip install -e . cd .. cd rsl_rl pip install -e . +cd .. ``` - 通过运行以下命令验证扩展是否正确安装，打印可用环境列表：