1.0.4 Mainly add the TM5S and TM7S, mesh files and Xacro simulation models.

Author: YH.Wang

doc/tm_humble.md

@@ -135,6 +135,7 @@ The user can manually click the `Data Table Setting` <sup>2</sup> item and check
 > Now, the user can use a new terminal to run each ROS node or command but don't forget to source the correct setup shell files as starting a new terminal.
 >
 > &#10146; <sup>1</sup>  The user can download the TM driver relative ROS apps [Experimental TM2 Humble ROS Apps](https://github.com/TechmanRobotInc/tm2_ros2/tree/humble) of the GitHub repository for ROS applications.
+> **Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 
 ## __3. TMflow Vision node setup and prerequisites for using TM ROS Vision__
@@ -235,5 +236,6 @@ The user can manually click the `Data Table Setting` <sup>2</sup> item and check
 > ```
 >
 > Then, the viewer will display image data from _TMflow_.
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_demo.md

@@ -96,5 +96,6 @@ The <robot_ip_address> is the IP address of the TM Robot, the user can get it th
 ``source ./install/setup.bash``<br/>
 ``ros2 run demo demo_set_io``<br/>
 > :warning:[CAUTION] Some demos will let the TM Robot move, please be careful.<br/>
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_demo_e.md

@@ -105,5 +105,6 @@ For example:  (select to run demo_set_io)
 >> {workspace}$ source ./install/setup.bash
 >> {workspace}$ ros2 run demo demo_set_io
 >> ```
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_e.md

@@ -207,6 +207,7 @@ The __Listen node__: a socket server can be established and be connected with RO
 >> **Note**: The <ROS_DOMAIN_ID> is the key to ROS communication and must be the same as the value of _TM Flow 2_ in the _ROS Settings_.<br/>
 >
 > Then, the viewer will display image data from _TMflow_.
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 
 ## __4. ROS Settings on Configuration__ 

doc/tm_humble_gui.md

@@ -57,6 +57,7 @@ The <robot_ip_address> is the IP address of the TM Robot, the user can get it th
 > 6. In another new terminal: Source setup.bash in the workspace path and start GUI debug by typing<br/>
 ``source ./install/setup.bash``<br/>
 ``ros2 run tm_inspect robot_ui``<br/>
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 >
 >
 <br/>

doc/tm_humble_gui_e.md

@@ -55,6 +55,7 @@ This chapter describes a simplified GUI for displaying tm_driver connection stat
 ``export ROS_DOMAIN_ID=<ROS_DOMAIN_ID>``<br/>
 The <ROS_DOMAIN_ID> value of this setting must be the same as the value of TM Flow.<br/>
 ``ros2 run tm_inspect robot_ui``<br/>
+**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 >
 For example: 
 >> Assume the domain ID is set to 30 and the embedded TM ROS driver is successfully enabled on _Tmflow 2_. If the user has successfully built the specific code (tm2_ros2) before, now the user only needs to open a new terminal, and set the path to the TM driver workspace ``cd ~/tm2_ws``, then type the following command to start the debug GUI.<br/>

tm_description/launch/view_robot.launch.py

@@ -14,17 +14,22 @@
 
 
 def generate_launch_description():
+    # Robot description Configuration
+    description_path = 'tm_description'
+    xacro_path = 'tm12s.urdf.xacro'
+    rviz_path = '/rviz/view_robot.rviz'     
+    
     robot_description_config = xacro.process_file(
         os.path.join(
-            get_package_share_directory('tm_description'),
+            get_package_share_directory(description_path),
             'xacro',
-            'tm12s.urdf.xacro',
+            xacro_path,
         )
     )
     robot_description = {'robot_description': robot_description_config.toxml()}
 
     # RViz
-    rviz_config_file = get_package_share_directory('tm_description') + '/rviz/view_robot.rviz'
+    rviz_config_file = get_package_share_directory(description_path) + rviz_path
     rviz_node = Node(
         package='rviz2',
         executable='rviz2',
@@ -52,10 +57,11 @@ def generate_launch_description():
         parameters=[robot_description]
     )
 
-    joint_state_publisher_node = Node(
+    # publish joint states
+    joint_state_slider = Node(
         package='joint_state_publisher_gui',
         executable='joint_state_publisher_gui',
         name='joint_state_publisher_gui'
     )
 
-    return LaunchDescription([static_tf, robot_state_publisher, joint_state_publisher_node, rviz_node])
+    return LaunchDescription([static_tf, robot_state_publisher, joint_state_slider, rviz_node])