Update readmes again

Signed-off-by: Katie Hughes <khughes-bdai@theaiinstitute.com>

spot_controllers/include/spot_controllers/spot_joint_controller_parameters.yaml

@@ -2,5 +2,5 @@ spot_joint_controller:
   joints: {
     type: string_array,
     default_value: [],
-    description: "Names of the joint to control",
+    description: "Names of the joints to control",
   }

spot_msgs/msg/JointCommand.msg

@@ -1,12 +1,12 @@
 # list of the joint names to control
 string[] name
-# desired position command for each joint
+# desired position commands for each joint in rad
 float64[] position
-# desired velocity command for each joint
+# desired velocity commands for each joint in rad/s
 float64[] velocity
-# desired effort command for each joint
+# desired effort commands for each joint in Nm
 float64[] effort
-# desired k_q_p command for each joint
+# desired k_q_p commands for each joint in Nm/rad
 float64[] k_q_p
-# desired k_qd_p command for each joint
+# desired k_qd_p command for each joint in Nms/rad
 float64[] k_qd_p

spot_ros2_control/README.md

@@ -76,6 +76,8 @@ Next, run
 ```bash
 ros2 run spot_ros2_control set_grippper_gains
 ```
+Include the argument `--robot <namespace>` if the ros2 control stack was launched in a namespace.
+This demo will repeatedly open and close the gripper, and after each motion, will take user input on new k_q_p and k_qd_p values to use next.
 
 ## Additional Arguments
 * `controllers_config`: If this argument is unset, a general purpose controller configuration will be loaded containing a forward position controller and a joint state publisher, that is filled appropriately based on whether or not the robot used (mock or real) has an arm. The forward state controller is also specified here. If you wish to load different controllers, this can be set here.