From 7a3163416abc6ca3c3e34e70ff7bf63f20fc9cbd Mon Sep 17 00:00:00 2001
From: Fernando Herrero <fherrero@iri.upc.edu>
Date: Fri, 8 Mar 2019 11:14:21 +0100
Subject: [PATCH] Update ros_interface.md, tutorials/real_robot.md,
 tutorials/simulation.md, README.md, developers.md files

---
 README.md               |  2 +-
 developers.md           |  2 ++
 ros_interface.md        | 32 ++++++++++++++++++++++++++++++++
 tutorials/real_robot.md |  2 +-
 tutorials/simulation.md |  2 +-
 5 files changed, 37 insertions(+), 3 deletions(-)
 create mode 100644 developers.md
 create mode 100644 ros_interface.md

diff --git a/README.md b/README.md
index 3aa6b46..d123f1d 100644
--- a/README.md
+++ b/README.md
@@ -32,4 +32,4 @@ whenever you need to use the robot.
 
 # Developers
 
-For advanced users and developers, [here<to_do>]() there is a more in depth information about the robot and all its dependencies.
+See [developers](developers.md) for advanced users and developers.
diff --git a/developers.md b/developers.md
new file mode 100644
index 0000000..98a4e1d
--- /dev/null
+++ b/developers.md
@@ -0,0 +1,2 @@
+# Developers
+
diff --git a/ros_interface.md b/ros_interface.md
new file mode 100644
index 0000000..4a6e759
--- /dev/null
+++ b/ros_interface.md
@@ -0,0 +1,32 @@
+# ROS Interface
+
+## Topics
+
+### Published
+
+* /helena/odom ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)): platform odometry
+
+### Subscribed
+
+* /helena/cmd_vel ([geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)): velocity commands as linear speed (linear.x) and angular speed (angular.z)
+
+## Services
+
+### Servers
+
+*
+
+### Clients
+
+*
+
+## Actions
+
+### Servers
+
+*
+
+### Clients
+
+*
+
diff --git a/tutorials/real_robot.md b/tutorials/real_robot.md
index 0a3ba12..a833e6c 100644
--- a/tutorials/real_robot.md
+++ b/tutorials/real_robot.md
@@ -6,4 +6,4 @@ The robot's on-board computer already has all the necessary ROS nodes to operate
 
 At this point, you should have acces to all the topic, services and actions provided by the robot.
 
-A complete list of all ROS interfaces is shown here: [to_do]().
\ No newline at end of file
+A complete list of all ROS interfaces is shown here: [ROS_interface](../ros_interface.md).
\ No newline at end of file
diff --git a/tutorials/simulation.md b/tutorials/simulation.md
index 6683f14..4cb2a88 100644
--- a/tutorials/simulation.md
+++ b/tutorials/simulation.md
@@ -61,4 +61,4 @@ roslaunch iri_helena_gazebo sim_sample.launch rviz:=true world_name:=willow
 
 This command should launch the robot with all its sensors in an example world, shown in the Gazebo gui, and Rviz showing sensor data. 
 
-A complete list of all ROS interfaces is shown here: [to_do]().
\ No newline at end of file
+A complete list of all ROS interfaces is shown here: [ROS_interface](../ros_interface.md).
\ No newline at end of file
-- 
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