Added an example to the Trajectory Control docs (#33)

* Added an example to the Trajectory Control docs

This resolves hello-robot/hello-robot.github.io#6 and  hello-robot/hello-robot.github.io#12

* Added an example to the Trajectory Control docs

* Removed the "WIP" note

* Changed to position mode in the example ros2 run commands

Author: hello-robot-shehab

mkdocs_rt.yml

@@ -101,6 +101,7 @@ nav:
   - Perception: ./perception.md
   - Examples:
     - Move Stretch with Twist Controller: ./example_1.md
+    - Trajectory Control: ./follow_joint_trajectory.md
     - Obstacle Avoidance: ./obstacle_avoider.md
     - Collision Avoidance: ./example_3.md
     - Rviz Markers: ./example_4.md

ros2/follow_joint_trajectory.md

@@ -1,6 +1,4 @@
 ## FollowJointTrajectory Commands
-!!! note
-    ROS 2 tutorials are still under active development. For this exercise you'll need to have Ubuntu 22.04 and ROS Iron for it to work completly.
 
 Stretch driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) action service for its arm. Within this tutorial, we will have a simple FollowJointTrajectory command sent to a Stretch robot to execute.
 
@@ -13,9 +11,11 @@ Stretch driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api/con
 Begin by launching stretch_driver in a terminal.
 
 ```{.bash .shell-prompt}
-ros2 launch stretch_core stretch_driver.launch.py mode:=trajectory
+ros2 launch stretch_core stretch_driver.launch.py mode:=position
 ```
 
+> Note: `mode:=position` uses a trapezoidal motion profile. For advanced control, you may use `mode:=trajectory`.
+
 In a new terminal type the following commands.
 
 ```{.bash .shell-prompt}
@@ -182,9 +182,13 @@ To make the script executable call the main() function like above.
 If you have killed the above instance of stretch_driver relaunch it again through the terminal.
 
 ```{.bash .shell-prompt}
-ros2 launch stretch_core stretch_driver.launch.py mode:=trajectory
+ros2 launch stretch_core stretch_driver.launch.py mode:=position
 ```
 
+> Note: `mode:=position` uses a trapezoidal motion profile. For advanced control, you may use `mode:=trajectory`.
+
+
+
 In a new terminal type the following commands.
 
 ```{.bash .shell-prompt}