lab5.md

@@ -38,7 +38,7 @@ content: '`ros2 run air_simple_sim generate_rdf office_1`'"
 
 ## Goal message
 
-In your `air_lab_interfaces`, you should add two new messages ``Goal` and `GoalsRequest`. They will be used to communicate goals between `text_to_goals` and `decision`.
+In your `air_lab_interfaces`, you should add two new messages ``Goal` and `GoalsRequest`. They will be used to communicate goals between `text_to_goals` and `decision`. You can check the [official tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html) to know how to create custom messages.
 
 `Goal` should have the following fields:
 
@@ -62,6 +62,8 @@ Examples of text commands:
 * "Bring Coffee" this should lead to a `Goal` with field `{ type: "bring", object: "Coffee", destination: "User" }`
 * "Explore!" this should lead to a `Goal` with field `{ type: "explore" }`
 
+You can use `ros2 topic` to publish the text command.
+
 ## Decision Node
 
 This node should listen to the topic `goals_requests` and generate TSTs that are then send as a service call to your `tst_executor` like you did in  [Lab4](lab4).