Delete the Buliding,Usage,Launch files part in all README.md and add Complete description part in some README.md.

Author: NaHCO3bc

rm_calibration_controllers/README.md

@@ -34,9 +34,8 @@ Or better, use `rosdep`:
 
 	sudo rosdep install --from-paths src
 
-### Building from Source
+### Dependencies
 
-#### Dependencies
 * roscpp
 * roslint
 * rm_msgs
@@ -49,17 +48,6 @@ Or better, use `rosdep`:
 * control_msgs
 
 
-#### Building
-
-To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
-
-	cd catkin_workspace/src
-	git clone https://github.com/rm-controls/rm_controllers.git
-	cd ../
-	rosdep install --from-paths . --ignore-src
-	catkin_make
-
-
 ## ROS API
 
 #### Service
@@ -80,6 +68,15 @@ To build from source, clone the latest version from this repository into your ca
   This is velocity `threshold`. When the real time velocity of target joint lower than threshold, and last for a while,
   it can switch CALIBRATED from MOVING.
 
+#### Complete description
+
+```yaml
+cover_controller:
+  type: effort_controllers/JointPositionController
+  joint: "cover_joint"
+  pid: { p: 15.0, i: 0.0, d: 1.2, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true }
+```
+
 
 ## Bugs & Feature Requests
 

rm_chassis_controllers/README.md

@@ -31,9 +31,7 @@ Or better, use `rosdep`:
 sudo rosdep install --from-paths src
 ```
 
-### Building from Source
-
-#### Dependencies
+### Dependencies
 
 * [Robot Operating System (ROS)](http://wiki.ros.org/) (middleware for robotics),
 * roscpp
@@ -53,29 +51,6 @@ sudo rosdep install --from-paths src
 * imu_sensor_controller
 * robot_localization
 
-#### Building
-
-* Build this package with catkin build. Clone the latest version from this repository into your catkin workspace.
-
-```
-catkin_workspace/src
-git clone https://github.com/rm-controls/rm_controllers.git
-rosdep install --from-paths . --ignore-src
-catkin build
-```
-
-## Usage
-
-Run the controller with mon launch:
-
-```
-mon launch rm_chassis_controllers load_controllers.launch
-```
-
-## Launch files
-
-* **load_controllers.launch:** It loads tf, robot_localization and some controllers, robot_state_controller, joint_state_controller and chassis controller are included.
-
 ## ROS API
 
 #### Subscribed Topics

rm_gimbal_controllers/README.md

@@ -33,8 +33,7 @@ Or better, use `rosdep`:
 
     sudo rosdep install --from-paths src
 
-### Building from Source
-#### Dependencies
+### Dependencies
 * roscpp
 * roslint
 * rm_msgs
@@ -52,27 +51,6 @@ Or better, use `rosdep`:
 * visualization_msgs
 * dynamic_reconfigure
 
-#### Building
-
-To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
-
-	cd catkin_workspace/src
-	git clone https://github.com/rm-controls/rm_controllers.git
-	cd ../
-	rosdep install --from-paths . --ignore-src
-	catkin build
-
-
-## Usage
-
-Run the controller with mon launch:
-
-      mon launch rm_gimbal_controller load_controllers.launch
-
-## Launch files
-
-* **load_controllers.launch**: Load the parameters in config files and load tf and robot_state_controller, joint_state_controller, gimbal_controller.
-
 ## ROS API
 
 #### Subscribed Topics

rm_orientation_controller/README.md

@@ -58,26 +58,13 @@ Or better, use `rosdep`:
 
 	sudo rosdep install --from-paths src
 
-### Building from Source
-
-#### Dependencies
+### Dependencies
 
 - [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
 - [Eigen] (linear algebra library)
 
   sudo rosdep install --from-paths src
 
-#### Building
-
-To build from source, clone the latest version from this repository into your catkin workspace and compile the package
-using
-
-	cd catkin_workspace/src
-	git clone https://github.com/ethz-asl/ros_best_practices.git
-	cd ../
-	rosdep install --from-paths . --ignore-src
-	catkin_make
-
 ### Running in Docker
 
 Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure
@@ -113,14 +100,6 @@ Run the static code analysis with
 
 	catkin_make roslint_ros_package_template
 
-## Usage
-
-Describe the quickest way to run this software, for example:
-
-Run the main node with
-
-	roslaunch ros_package_template ros_package_template.launch
-
 ## Config files
 
 Config file folder/set 1
@@ -131,20 +110,6 @@ Config file folder/set 2
 
 * **...**
 
-## Launch files
-
-* **launch_file_1.launch:** shortly explain what is launched (e.g standard simulation, simulation with gdb,...)
-
-  Argument set 1
-
-    - **`argument_1`** Short description (e.g. as commented in launch file). Default: `default_value`.
-
-  Argument set 2
-
-    - **`...`**
-
-* **...**
-
 ## Nodes
 
 ### ros_package_template
@@ -183,6 +148,17 @@ Reads temperature measurements and computed the average.
 
 ...
 
+#### Complete description
+
+```yaml
+orientation_controller:
+  type: rm_orientation_controller/Controller
+  publish_rate: 100
+  name: "gimbal_imu"
+  frame_source: "odom"
+  frame_target: "base_link"
+```
+
 ## Bugs & Feature Requests
 
 Please report bugs and request features using the [Issue Tracker](https://github.com/gdut-dynamic-x/rm_template/issues)

rm_shooter_controllers/README.md

@@ -37,9 +37,7 @@ or better use `rosdep`:
 sudo rosdep install --from-paths src
 ```
 
-### Building from Source
-
-#### Dependencies
+### Dependencies
 
 - rm_description
 - roscpp
@@ -55,33 +53,10 @@ sudo rosdep install --from-paths src
 - effort_controllers
 - dynamic_reconfigure
 
-#### Building
-
-To build this package with catkin build. Clone the latest version from this repository into your catkin workspace.
-
-```
-catkin_workspace/src
-git clone https://github.com/rm-controls/rm_controllers.git
-rosdep install --from-paths . --ignore-src
-catkin build
-```
-
-## Usage
-
-Run the controller with mon launch:
-
-```
-mon launch rm_shooter_controllers load_controllers.launch
-```
-
 ## Cfg
 
 + **shooter.cfg:** Add parameters related to friction wheel's angular velocity corresponding to each bullet speed and trigger block detection parameters.
 
-## Launch files
-
-- **load_controller.launch:** Load the parameters in config files and load the shooter controller.
-
 ## ROS API
 
 #### Subscribed Topics

robot_state_controller/README.md

@@ -37,9 +37,7 @@ or better use `rosdep`:
 sudo rosdep install --from-paths src
 ```
 
-### Building from Source
-
-#### Dependencies
+### Dependencies
 
 * roscpp
 * roslint
@@ -53,29 +51,6 @@ sudo rosdep install --from-paths src
 * realtime_tools
 * pluginlib
 
-#### Building
-
-To build this package with catkin build. Clone the latest version from this repository into your catkin workspace.
-
-```bash
-catkin_workspace/src
-git clone https://github.com/rm-controls/rm_controllers.git
-rosdep install --from-paths . --ignore-src
-catkin build
-```
-
-## Usage
-
-Run the controller with mon launch:
-
-```shell
-mon launch robot_state_controller load_controllers.launch
-```
-
-## Launch files
-
-- **load_controller.launch:** Load the parameters in config files and load the robot_state_controller.
-
 ## ROS API
 
 #### Subscribed Topics