Merge pull request #351 from reidchristopher/foxy_minor_fixes

Fix minor instruction errors/omissions (Foxy)
ros-industrial · Sep 28, 2021 · 82070ab · 82070ab
2 parents 4dcdbd4 + 8f8c0ce
commit 82070ab
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Showing 4 changed files with 10 additions and 3 deletions.
diff --git a/gh_pages/_source/session1/ros2/4-Topics-and-Messages.md b/gh_pages/_source/session1/ros2/4-Topics-and-Messages.md
@@ -36,7 +36,7 @@ Your goal is to create your first ROS subscriber:
    1. Add the package to the list of dependencies of the _vision_node_ target:
 
       ``` cmake
-      ament_target_dependencies(vision_node PUBLIC rclcpp fake_ar_publisher)
+      ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
       ```
 
 1. Add a dependency in your package's `package.xml`:

diff --git a/gh_pages/_source/session2/ros2/0-Services.md b/gh_pages/_source/session2/ros2/0-Services.md
@@ -105,7 +105,7 @@ Your goal is to create a more intricate system of nodes:
       rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
       ```
 
-1. NOW! you have a service defined in you package and you can attempt to _build_ the code to generate the service:
+1. Now you have a service defined in you package and you can attempt to _build_ the code to generate the service:
 
    ```
    colcon build

diff --git a/gh_pages/_source/session2/ros2/3-Parameters.md b/gh_pages/_source/session2/ros2/3-Parameters.md
@@ -70,7 +70,7 @@ So far we haven't used the request field, `base_frame`, for anything. In this ex
    {
      ...
      request->base_frame = base_frame;
-     RCLCPP_INFO_STREAM("Requesting pose in base frame: " << base_frame);
+     RCLCPP_INFO_STREAM(get_logger(), "Requesting pose in base frame: " << base_frame);
      ...
    }
 

diff --git a/gh_pages/_source/session3/ros2/1-Workcell-XACRO.md b/gh_pages/_source/session3/ros2/1-Workcell-XACRO.md
@@ -34,6 +34,7 @@ Specifically, you will need to:
        ```
        cd ~/ros2_ws/src
        git clone -b ros2 https://github.com/jdlangs/universal_robot.git
+       cd ~/ros2_ws
        colcon build
        source ~/ros2_ws/install/setup.bash
        ```
@@ -132,6 +133,12 @@ Specifically, you will need to:
         ])
     ```
 
+ 1. Add the urdf folder to the installation rule in your `CMakeLists.txt` so it gets installed where the launch file expects it to be.
+
+    ``` cmake
+    install(DIRECTORY launch urdf DESTINATION share/${PROJECT_NAME}/)
+    ```
+
  1. Rebuild your workspace and check the updated URDF in RViz, using the launch file you just created:
 
     `ros2 launch myworkcell_support urdf.launch.py`