More changes to readme

.gitignore

@@ -1,2 +1,2 @@
 
-
+src/MoCap_*.py

README.md

@@ -135,3 +135,41 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 	- number_elements: number of segments tether will be composed of
 	- tl: segment length (should be no shorter than 0.3 meters)
 
+
+## ROS NODES
+- LinkState.py determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test.
+>> Publishes to:
+		/status/twoBody_status # localization and angles
+		/status/path_follow    # boolean to run trajectory test
+>> Subscribes to:
+		none
+- ref_signalGen.py takes in desired position (xd) and determines smooth path trajectory.
+>> Publishes to:
+		/reference/path			# smooth path
+		/reference/flatsetpoint    	# needed to determine thrust
+>> Subscribes to:
+		/status/twoBody_status
+		/mavros/local_position/velocity_body
+		/mavros/imu/data
+		/mavros/state
+		/reference/waypoints
+- klausen_control.py determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
+>> Publishes to:
+		/command/quaternions		# attitude commands
+		/reference/flatsetpoint    	# needed to determine thrust
+>> Subscribes to:
+		/status/twoBody_status
+		/reference/path
+		/mavros/imu/data
+		/mavros/local_position/velocity_body
+- node from mavros_controllers/geometric_controller subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
+- path_follow.cpp sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
+>> Publishes to:
+		mavros/setpoint_position/local		# needed to hover @ set height	
+		mavros/setpoint_raw/attitude		# attitude and thrust commands 	
+>> Subscribes to:
+		/command/quaternions	
+		/command/bodyrate_command	
+		/mavros/state
+
+

src/path_follow.cpp

@@ -106,7 +106,7 @@ int main(int argc, char **argv)
     ros::Subscriber thro_sub = nh.subscribe<mavros_msgs::AttitudeTarget>
 		("command/bodyrate_command",10,thrust_cb);
 
-    /********************** PULISHERS **********************/
+    /********************** PUBLISHERS **********************/
     // Initiate publisher to publish commanded local position
     ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
 		("mavros/setpoint_position/local", 10);