[fix] 增加saturn_controller中README.md。

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "functional": "cpp"
+    }
+}

saturn_controller/README.md

@@ -1,6 +1,24 @@
-source /opt/ros/galactic/setup.bash && ros2 run rclcpp_components component_container
-source /opt/ros/galactic/setup.bash && ros2 component load /ComponentManager saturn_controller saturn_ros2::SaturnController
+# 调试时启动脚本
+source /root/ros2_ws/install/setup.bash && ros2 launch bringup bringup.launch.py map_name:=$MAP_NAME floor_name:=$FLOOR
 
-source /opt/ros/galactic/setup.bash && ros2 component load /component_container saturn_controller saturn_ros2::SaturnController
+## 启动导航模式
+ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'EnableNavigation'"
 
-ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StandUpDown'"
+## 站立趴下切换
+ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StandUpDown'"
+
+## 切换到楼梯模式
+ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StairsGait'"
+
+## 切换到平地步态
+ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'OrdinaryGait'"
+
+## 发布速度指令
+ros2 topic pub /GS_003/cmd_vel geometry_msgs/msg/Twist "linear:
+  x: -0.1
+  y: 0.0
+  z: 0.0
+angular:
+  x: 0.0
+  y: 0.0
+  z: 0.0"