diff --git a/stretch_demos/README.md b/stretch_demos/README.md index 54c4db6..07a7eb1 100644 --- a/stretch_demos/README.md +++ b/stretch_demos/README.md @@ -56,12 +56,12 @@ Then, press the key with the / and ? on it while in the terminal to initiate a s ### Autodocking with Nav Stack -For this demo, the robot will look for a docking station with an ArUco marker, align itself to the docking station using the ROS Nav Stack, and then back up into the docking station using an error-based controller. Prior to running this demo, you should stow the robot, ensure that you have a pregenerated map and the docking station is resting against a wall. Go through [this]() tutorial to understand how the demo works. +For this demo, the robot will look for a docking station with an ArUco marker, align itself to the docking station using the ROS Nav Stack, and then back up into the docking station using an error-based controller. Prior to running this demo, you should stow the robot, ensure that you have a pregenerated map and the docking station is resting against a wall. Go through [this](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/autodocking_nav_stack/) tutorial to understand how the demo works. You can launch this demo using the following command: ``` -roslaunch stretch_demos autodocking.launch +roslaunch stretch_demos autodocking.launch map_yaml:=${HELLO_FLEET_PATH}/maps/.yaml ``` ## License