Fixed naming in readme

Author: Lu, Bethany(Data61, Pullenvale)

readme.md

@@ -98,13 +98,13 @@ For information on parameters see readme in config folder.
     * Type: std_msgs::Int8
 
 ### Syropod Manipulation:
-* AR Leg Tip Position:
-    * Description: The desired pose of leg AR in Cartesian space.   
+* Primary Leg Tip Pose:
+    * Description: The desired pose for the leg selected for primary manipulation within Cartesian space.   
     * Topic: */syropod_manipulation/primary_tip_pose*
     * Type:  geometry_msgs::Pose
 
-* AL Leg Tip Position:
-    * Description: The desired pose of leg AL in Cartesian space.   
+* Secondary Leg Tip Pose:
+    * Description: The desired pose for the leg selected for secondary manipulation within Cartesian space.   
     * Topic: */syropod_manipulation/secondary_tip_pose*
     * Type:  geometry_msgs::Pose
 

src/walk_controller.cpp

@@ -735,6 +735,7 @@ void WalkController::updateManual(const int &primary_leg_selection_ID, const Pos
         if (params_.leg_manipulation_mode.data == "tip_control")
         {
           // TODO add orientation control
+          // leg_stepper->setCurrentTipPose(Pose(tip_position_input, tip_rotation_input));
           leg_stepper->setCurrentTipPose(Pose(tip_position_input, UNDEFINED_ROTATION));
         }
       }