- pfsdp_init feature described in README.md

- links to PFSDP docu added

README.md

@@ -62,10 +62,23 @@ turn. This is not strictly from bottom to top:
 |2 |+4.5° | top |
 |3 |+1.5° | - |
 
-**Topics:**  
+**ROS-Topics:**  
 The R2000 and R2300 devices each publish two topics. See the topics documentation [topics.md](./docs/topics.md) for more details.
 
-**Services:**  
+**ROS-Services:**  
 The ROS driver offers several ROS services which can be used to communicate with the sensor. Especially
 services for sensor parametrization are available. For example to list, get and set parameters. See the 
 services documentation [services.md](./docs/services.md) for more details and how to use these services.
+
+**Configure device settings at driver start:**  
+It is possible to set device parameters when the driver starts. To do this, the corresponding file in the
+directory \src\pf_driver\config\*.yaml (e.g. r2000_params.yaml) must be adapted, which is then used by the
+launch file as a parameters file. By adding the following line, the two device parameters 'user_tag' and
+'hmi_application_text_1' are set to 'myTag20090505' and 'MyHMIapplText19800128' respectively in a R2000 device.
+```
+pfsdp_init: ['user_tag=myTag20090505', 'hmi_application_text_1=MyHMIapplText19800128']
+```
+Other device parameters can be set in this way. An overview of the settable device parameters and their
+possible adjustable values can be found in the following documents
+[R2000](https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/doct3469g.pdf) /
+[R2300](https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/doct7001b.pdf)).

docs/services.md

@@ -1,9 +1,12 @@
 ## ROS Services
 
 The ROS driver provides the following services. They use the sensor specific Pepperl+Fuchs scan data
-protocol (PFSDP) which is a simple command protocol using HTTP requests and responses. Please see the
-following detailed descriptions and examples to call these services. The examples are based on the
-assumption that the node name is pf_r2000.
+protocol (PFSDP - [R2000](https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/doct3469g.pdf) /
+[R2300](https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/doct7001b.pdf)) which is a simple 
+command protocol using HTTP requests and responses. Please see the following detailed descriptions and 
+examples to call these services. The examples are based on the assumption that the node name is pf_r2000.
+Which parameters can be written with which values can be found in the PFSDP documents (R2x00 Ethernet 
+communication protocol) linked above.
 
 **List parameters**  
 The service pfsdp_list_parameters returns a list of all available global sensor parameters.

docs/topics.md

@@ -5,7 +5,7 @@
 | Topic         | Type          | Description                                                                                                                  |
 | ------------- | ------------- | ---------------------------------------------------------------------------------------------------------------------------- |
 | /pf/scan      | LaserScan     | ROS standard message, see [sensor_msgs/LaserScan](https://docs.ros.org/en/jazzy/p/sensor_msgs/interfaces/msg/LaserScan.html) |
-| /r2000_header | PFR2000Header | Sensor specific message, see [pf_interfaces/msg/PFR2000Header.msg] (../src/pf_interfaces/msg/PFR2000Header.msg)              |
+| /r2000_header | PFR2000Header | Sensor specific message, see [pf_interfaces/msg/PFR2000Header.msg](../src/pf_interfaces/msg/PFR2000Header.msg)               |
 
 Topic PFR2000Header details:
 
@@ -62,7 +62,7 @@ status_flags details:
 | Topic         | Type          | Description                                                                                                                      |
 | ------------- |-------------- | -------------------------------------------------------------------------------------------------------------------------------- |
 | /pf/cloud     | PointCloud2   | ROS standard message, see [sensor_msgs/PointCloud2](https://docs.ros.org/en/jazzy/p/sensor_msgs/interfaces/msg/PointCloud2.html) |
-| /r2300_header | PFR2300Header | Sensor specific message, see [pf_interfaces/msg/PFR2300Header.msg] (../src/pf_interfaces/msg/PFR2300Header.msg)                  |
+| /r2300_header | PFR2300Header | Sensor specific message, see [pf_interfaces/msg/PFR2300Header.msg](../src/pf_interfaces/msg/PFR2300Header.msg)                   |
 
 Topic PFR2300Header details: