DOC: describe how to run example controller for dubins_traffic

fmrchallenge · May 16, 2016 · 4af64a6 · 4af64a6
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diff --git a/doc/usersguide/dubins_traffic.rst b/doc/usersguide/dubins_traffic.rst
@@ -89,6 +89,8 @@ required for this example.
   ln -s $FMRBENCHMARK/domains/dubins_traffic/dubins_traffic_utils
   ln -s $FMRBENCHMARK/domains/dubins_traffic/dub_sim
   ln -s $FMRBENCHMARK/domains/dubins_traffic/e-agents/wander
+  ln -s $FMRBENCHMARK/examples/dubins_traffic_examples
+
 
 Build and install it within the catkin workspace.
 
@@ -129,6 +131,12 @@ in a separate terminal, run ::
 
   roslaunch your_controller foo.launch
 
+You can run an example controller using::
+
+  roslaunch dubins_traffic_examples simple.launch
+
+This is a simple controller that sets the ego vehicle's forward and angular velocity based on the next goal to be visited, and cycles through goals in this manner.
+
 Support code for working with road network descriptions is available in
 ``roadnet.hpp`` and ``dubins_traffic.py``.