Correcting Example 3 (#40)

Author: bailaC

design_drafts/components_architecture_and_urdf_examples.md

@@ -153,34 +153,32 @@ Note:
   <ros2_control name="RRBotSystemWithSensor" type="system">
     <hardware>
       <plugin>ros2_control_demo_hardware/RRBotSystemWithSensorHardware</plugin>
-      <param name="example_param_write_for_sec">2</param>
-      <param name="example_param_read_for_sec">2</param>
-    </hardware>
-    <joint name="joint1">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="position"/>
-    </joint>
-    <joint name="joint2">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="position"/>
-    </joint>
-    <sensor name="tcp_fts_sensor">
-      <state_interface name="fx"/>
-      <state_interface name="fy"/>
-      <state_interface name="fz"/>
-      <state_interface name="tx"/>
-      <state_interface name="ty"/>
-      <state_interface name="tz"/>
-      <param name="frame_id">kuka_tcp</param>
-      <param name="lower_limits">-100</param>
-      <param name="upper_limits">100</param>
-    </sensor>
+      <param name="example_param_hw_start_duration_sec">2.0</param>
+        <param name="example_param_hw_stop_duration_sec">3.0</param>
+        <param name="example_param_hw_slowdown">2.0</param>
+        <param name="example_param_max_sensor_change">5.0</param>
+      </hardware>
+      <joint name="joint1">
+        <command_interface name="position">
+          <param name="min">-1</param>
+          <param name="max">1</param>
+        </command_interface>
+        <state_interface name="position"/>
+      </joint>
+      <joint name="joint2">
+        <command_interface name="position">
+          <param name="min">-1</param>
+          <param name="max">1</param>
+        </command_interface>
+        <state_interface name="position"/>
+      </joint>
+      <sensor name="tcp_fts_sensor">
+        <state_interface name="fx"/>
+        <state_interface name="tz"/>
+        <param name="frame_id">rrbot_tcp</param>
+        <param name="fx_range">100</param>
+        <param name="tz_range">15</param>
+      </sensor>
   </ros2_control>
 ```