update documentation

Author: JohnTGZ

flowstate/aic_flowstate_ros_bridge/README.md

@@ -39,10 +39,25 @@ export INTRINSIC_CLUSTER="vmp-xxxx-xxxxxxx"
 ```
 
 <!-- todo(johntgz) documentation -->
-## Interfaces
+## ROS 2 Interfaces
 
 ### Services
 
+| Service Name | Service Type | Description |
+| :--- | :--- | :--- |
+| `/aic_controller/change_target_mode` | `aic_control_interfaces/srv/ChangeTargetMode` | Select the target mode (Cartesian or joint) to define the expected input. The controller will subscribe to either `/aic_controller/pose_commands` or `/aic_controller/joint_commands` accordingly. |
+| `/aic_controller/restart_bridge` | `std_srvs/srv/Trigger` | Triggers the restart of the controller bridge. To be called after robot faults occur and are cleared. |
+
 ### Published Topics
 
-### Subscribed Topics
+| Topic | Message Type | Description |
+| :--- | :--- | :--- |
+| `/aic_controller/controller_state` | `aic_control_interfaces/msg/ControllerState` | Data on current TCP pose and velocity, reference TCP pose, TCP tracking error and reference joint efforts. |
+
+### Command Topics
+The bridge listens to the following topics as motion commands for the controller.
+
+| Topic | Message Type | Description |
+| :--- | :--- | :--- |
+| `/aic_controller/joint_commands` | `aic_control_interfaces/msg/JointMotionUpdate` | Target configurations for joint-space control. |
+| `/aic_controller/pose_commands` | `aic_control_interfaces/msg/MotionUpdate` | Target poses for Cartesian-space control. |

flowstate/aic_flowstate_ros_bridge/src/robot_control_bridge.cpp

@@ -298,11 +298,10 @@ bool RobotControlBridge::initialize(
   // by a "reset to initial" for the Flowstate scene
   rcl_jump_threshold_t jump_threshold;
   jump_threshold.on_clock_change = true;
-  // Values of 0 would disable detecting forward/backward time jumps.
-  // Trigger pos_jump callback if the time jumps forward/backward by at least 1
-  // second (1e9 nanoseconds)
-  // jump_threshold.min_forward.nanoseconds = 1 * (1000000000);
+  // Values of 0 would disable callbacks from forward time jumps.
   jump_threshold.min_forward.nanoseconds = 0;
+  // Trigger restart of controller bridge if the time jumps backward by at least
+  // 1 second
   jump_threshold.min_backward.nanoseconds = 1 * (-1000000000);
   data_->jump_handler_ =
       data_->node_interfaces_