updated chnages in interfaces

docs/source/interfaces.rst

@@ -8,60 +8,61 @@ Below is the list of publishers in the Mowito Navigation Stack.
 
 **1. Command Velocity Publisher**
 
-      The ``cmd_vel_pub_`` publishes the command velocity of the robot over the **/cmd_vel** topic.
+      The command velocity of the robot is published over the ``/cmd_vel`` topic by the command velocity publisher.
 
 **2. Plan Publisher**
 
-      The ``plan_pub_`` publishes the path consisting of waypoints over the **/plan** topic.
+     The path consisting of waypoints is published over the ``/plan`` topic by the plan publisher.
+
 
 **3. Route Marker Publisher**
 
-      The ``route_marker_pub_`` publishes the route markers for visualizing the route in Rviz over the **/route** topic.
+     The route markers for visualizing the route in Rviz are published over the ``/route`` topic by the route marker publisher.
 
 **4. Goal Queue Publisher**
 
-      The ``goal_queue_pub_`` publishes over the **/goal_queue** topic for vizualizing the goal queue in Rviz.
+      The goal queue publisher publishes over the ``/goal_queue`` topic for vizualizing the goal queue in Rviz.
 
 **5. Mission Executive Status Publisher**
 
-      The ``mission_executive_status_pub_`` publishes the mission status of the robot over the **/mission_status** topic.
+     The mission status of the robot  is published over the ``/mission_status`` topic by the mission executive status publisher.
 
 Service Calls
 ---------------------
 Here is a list of the service calls in the navigation stack.
 
 **1. Set Plan**
 
-      The ``set_plan`` service sets the type of planner the robot will use.
+      The ``/mission_executive/set_plan`` service sets the type of planner the robot will use.
 
 **2. Set Route**
 
-      The ``set_route`` service allows the user to set a predefined route comprised of waypoints from a .yaml file.
+      The ``/mission_executive/set_route`` service allows the user to set a predefined route comprised of waypoints from a .yaml file.
 
 **3. Route Status**
 
-      The ``route_status`` service returns the status of current route the robot is executing.
+      The ``/mission_executive/get_route_status`` service returns the status of current route the robot is executing.
 
 **4. Change Planner**
 
-      The ``change_planner`` service changes the path planner used by the robot dynamically.
+      The ``/mission_executive/change_planner`` service changes the path planner used by the robot dynamically.
 
 **5. Change Controller**
 
-      The ``change_controller`` service changes the controller used by the robot dynamically.
+      The ``/mission_executive/change_controller`` service changes the controller used by the robot dynamically.
 
 **6. Abort Planner Goals**
 
-      The ``abort_planner_goals`` service cancels all the planner goals.
+      The ``/mission_executive/abort_planner_goals`` service cancels all the planner goals.
 
 **7. Abort Controller Goals**
 
-      The ``abort_controller_goals`` service cancels all the controller goals.
+      The ``/mission_executive/abort_controller_goals`` service cancels all the controller goals.
 
 **8. Abort Mission**
 
-      The ``abort_mission`` service cancels all the planner and controller goals thereby aborting the mission.
+      The ``/mission_executive/abort_mission`` service cancels all the planner and controller goals thereby aborting the mission.
 
 **9. Trigger Recovery**
 
-      The ``trigger_recovery`` service triggers the robot into recovery mode.
+      The ``/mission_executive/trigger_recovery`` service triggers the robot into recovery mode.