From 7d0e7f178655ed1448e92c40ffc4b6aae362ca1c Mon Sep 17 00:00:00 2001
From: winterhalderp <winterhalderp@irs.uni-stuttgart.de>
Date: Wed, 21 Apr 2021 11:14:15 +0200
Subject: [PATCH] new readme created

---
 README.md                                     |  4 +++
 src/pubsub/pubsub/Readme.md                   | 33 +++++++++++++++++++
 .../pubsub/statemachine_host_example.py       |  6 ++--
 3 files changed, 40 insertions(+), 3 deletions(-)
 create mode 100644 src/pubsub/pubsub/Readme.md

diff --git a/README.md b/README.md
index fed618c..c755df4 100644
--- a/README.md
+++ b/README.md
@@ -59,3 +59,7 @@ In order for your code to work and to prevent major problems please read through
 
 ## Presentation
 The workshop's content is covered in [this presentation](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/ws-05-ros-workshop%20%281%29.pdf).  
+
+## Further Documentation:
+* `pubsub/pubsub/` [Readme.md](None): Information on the example files and libraries to create communication interfaces between ROS nodes.
+* `custom_interface/` [Readme.md](None): Instructions on how to create additional custom interfaces using this pre-made ROS package.
diff --git a/src/pubsub/pubsub/Readme.md b/src/pubsub/pubsub/Readme.md
new file mode 100644
index 0000000..480073c
--- /dev/null
+++ b/src/pubsub/pubsub/Readme.md
@@ -0,0 +1,33 @@
+# Readme /pubsub
+This directory represents a ROS package due to its internal structure and files. The files inside `pubsub/pubsub/` are the Python scripts written by the package developer and can be called using the command line `ros2 run pubsub <entry_point_name>`. The `<entry_point_name>` has to be defined in _setup.py_.
+
+## Files
+This section describes the content and purpose of the files inside this directory.  
+`ros2 run` callable files:  
+* *topic\_talker.py* : Example for creating a `MinimumPublisher` and sending topics 
+* *topic\_listener.py* : Example for creating a `MinimumSubscriber` and receiving topics
+* *service\_host.py* : Example for creataing a `MinimumServiceProvider` and hosting a service
+* *service\_client.py* : Example for creating a `MinimumServiceClient` and calling a service
+* *statemachine\_host\_example.py* : Example application of State Machine (SM) hosting a service to call for a change of state
+* *statemachine\_client\_example.py* : Example application of a service client calling for the change of SM state
+
+Library files:  
+* \[*pubsub\_library* ; *pubsub\_library\_v2*\] : old versions
+* *pubsub\_library\_v3* : Library containing
+   * `MinimalPublisher` class
+   * `MinimalSubscriber` class
+   * `MinimalServiceProvider` class
+   * `MinimalServiceClient` class
+   
+## How to use
+You can use the `Minimal<X>` classes in three ways:  
+* Create `Minimal<X>` in your script (eg. [topic_listener.py](None) where data is echanged between the script environment and the class environment)
+* Implement `Minimal<X>` inside your device class the same way as implementing in your main script (__<-- ToDo !!!__)
+* Build device class upon `Minimal<X>` class (eg. [statemachine_host_example.py](None) where a device class is built upon the `MinimalServiceProvider` class) by implementing this structure
+```python
+class Child_Class(Parent_Class):
+```
+For example:
+```python
+class StateMachineCMDServiceProvider(MinimalServiceProvider):
+```
diff --git a/src/pubsub/pubsub/statemachine_host_example.py b/src/pubsub/pubsub/statemachine_host_example.py
index 6808e29..9e6779f 100644
--- a/src/pubsub/pubsub/statemachine_host_example.py
+++ b/src/pubsub/pubsub/statemachine_host_example.py
@@ -1,14 +1,14 @@
 import rclpy
 from rclpy.node import Node
 
-import pubsub.pubsub_library_v3 as lib
+from pubsub.pubsub_library_v3 import MinimalServiceProvider
 
 # Service Type Files
 from custom_interfaces.srv import StateMachineSrv
 
 
-
-class StateMachineCMDServiceProvider(lib.MinimalServiceProvider):
+# Device Class
+class StateMachineCMDServiceProvider(MinimalServiceProvider):
     def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
         self.NODE_NAME = NODE_NAME
         self.SRV_NAME = SRV_NAME