Turtlebot3.md

@@ -54,7 +54,7 @@ Turtlebot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 D
 ```
 
 # Working with turtlebot3 waffle with arm
-
+servomoteurs à connexion TTL
 Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR. The OpenMANIPULATOR has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and navigation capabilities that the TurtleBot3 has
 
 <img src="./images/turtlebot3-waffle1.jpg" width="300" height="350">
@@ -90,3 +90,20 @@ Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating
 ```
 (Remote PC)>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
 ```
++ Control waffle arm
+  + Run Bringup node for OpenMANIPULATOR on TurtleBot3
+```
+roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
+```
+  + Launch move group
+```
+(Remote PC)>roslaunch turtlebot3_manipulation_moveit_config move_group.launch
+```
+  + Launch moveit feature in rviz
+```
+(Remote PC)>roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch
+```
++ Launch GUI controller
+```
+(Remote PC)>roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch
+```