Merge pull request #12 from husarion/ranges_names

Update ranges names

README.md

@@ -9,7 +9,9 @@ ______  _____  _____  _             _           __
 | |\ \ \ \_/ //\__/ /| |_) || (_) || |_       | |   \ V  V /
 \_| \_| \___/ \____/ |_.__/  \___/  \__|      |_|    \_/\_/
 ```
-**Firmware version:** `0.3.2`
+**Firmware version:**
+
+[![rosbot_ros2_firmware](https://img.shields.io/github/v/release/husarion/rosbot_ros2_firmware)](https://github.com/husarion/rosbot_ros2_firmware/releases/latest)
 
 ## Prerequisites
 You need to install following tools:

ROS_API.md

@@ -13,10 +13,10 @@ ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000
     - `/_motors_response` (_*sensor_msgs/msg/JointState_)
     - `/_imu/data_raw` (_sensor_msgs/msg/Imu_)
     - `/battery` (_sensor_msgs/BatteryState_)
-    - `/range/right_front` (_sensor_msgs/msg/Range_)
-    - `/range/left_front` (_sensor_msgs/msg/Range_)
-    - `/range/right_rear` (_sensor_msgs/msg/Range_)
-    - `/range/left_rear` (_sensor_msgs/msg/Range_)
+    - `/range/fr` (_sensor_msgs/msg/Range_)
+    - `/range/fl` (_sensor_msgs/msg/Range_)
+    - `/range/rr` (_sensor_msgs/msg/Range_)
+    - `/range/rl` (_sensor_msgs/msg/Range_)
     - `/button/left` (_std_msgs/msg/Bool_)
     - `/button/right` (_std_msgs/msg/Bool_)
 

src/microros.cpp

@@ -25,7 +25,7 @@ std_msgs__msg__UInt32MultiArray servos_command_msg;
 std_msgs__msg__Bool led_msg;
 
 const char *range_frame_names[] = {"fr_range", "fl_range", "rr_range", "rl_range"};
-const char *range_pub_names[] = {"range/right_front", "range/left_front", "range/right_rear", "range/left_rear"};
+const char *range_pub_names[] = {"range/fr", "range/fl", "range/rr", "range/rl"};
 const char *buttons_pub_names[] = {"button/left", "button/right"};
 const char *led_subs_names[] = {"led/left", "led/right"};