From db8bf458eef632d7b3a493e89a73018964a044c3 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 29 May 2019 09:04:00 +0200
Subject: [PATCH] Added README file

---
 ur_calibration/README.md                      | 39 +++++++++++++++++++
 ur_calibration/src/calibration_correction.cpp |  2 +-
 2 files changed, 40 insertions(+), 1 deletion(-)
 create mode 100644 ur_calibration/README.md

diff --git a/ur_calibration/README.md b/ur_calibration/README.md
new file mode 100644
index 0000000..bbae9ff
--- /dev/null
+++ b/ur_calibration/README.md
@@ -0,0 +1,39 @@
+# ur_calibration
+
+Package for extracting the factory calibration from a UR robot and change it such that it can be used by `ur_description` to gain a correct URDF
+
+## Nodes
+### calibration_correction
+This node extracts calibration information directly from a robot, calculates the URDF correction and
+saves it into a yaml file.
+
+With the parameters explained below calibration will be saved inside
+```bash
+<output_package_name>/<subfolder>/<robot_name>_calibration.yaml
+```
+
+#### Example usage
+```bash
+rosrun ur_calibration calibration_correction _robot_ip:=192.168.56.101 _robot_name:=ur10_ideal _output_package_name:=ur_calibration
+```
+
+#### Parameters
+ * **"~subfolder_name"** (default: "etc")
+
+     Given a package where the output should be saved, the calibration file will be saved in this
+     subfolder relative to the package root.
+
+ * **"~robot_ip"** (required)
+
+    IP address of the robot. The robot has to be reachable with this ip from the machine running
+    this node.
+
+ * **"~robot_name"** (required)
+
+    Arbitrary name that will be used for generating the calibration file's filename (see node
+    description).
+
+ * **"~output_package_name"** (required)
+
+    Package inside which the calibration data will be stored in. This package has to exist and has
+    to be writable. Otherwise execution will fail and calibration data won't be saved.
diff --git a/ur_calibration/src/calibration_correction.cpp b/ur_calibration/src/calibration_correction.cpp
index eee1eb5..ff4ad37 100644
--- a/ur_calibration/src/calibration_correction.cpp
+++ b/ur_calibration/src/calibration_correction.cpp
@@ -62,7 +62,7 @@ public:
       robot_name_ = getRequiredParameter<std::string>("robot_name");
 
       // The resulting parameter file will be stored inside
-      // <output_package_name>/subfolder/<robot_name>_calibration.yaml
+      // <output_package_name>/<subfolder>/<robot_name>_calibration.yaml
       output_package_name = getRequiredParameter<std::string>("output_package_name");
     }
     catch (const ParamaterMissingException& e)