Minor fixes, possible typos.

README.md

@@ -2,9 +2,11 @@
 [![Udemy][udemy-shield]][udemy-url]
 
 <p align="center">
-  <img src="media/BumperBot.png" alt="Logo" width="450">
+  <img src="media/bumperbot.jpg" width="550">
 </p>
 
+Pictured: Bumperbot constructed by Dwilliestyle, based on instructions from Antonio Brandi's Udemy courses. 
+
 Bumperbot is an open-source 3D printed self-driving robot powered by ROS 2. Its simple design and low cost make it an excellent learning platform, featured in the following online courses:
 * [Self Driving and ROS 2 - Learn by Doing! Odometry & Control
 ](https://www.udemy.com/course/self-driving-and-ros-2-learn-by-doing-odometry-control/?referralCode=50BCC4E84DB2DB09BFB3)

bumperbot_bringup/launch/real_robot.launch.py

@@ -25,7 +25,7 @@ def generate_launch_description():
 
     laser_driver = Node(
             package="rplidar_ros",
-            executable="rplidar_node",
+            executable="rplidar_composition",
             name="rplidar_node",
             parameters=[os.path.join(
                 get_package_share_directory("bumperbot_bringup"),

bumperbot_controller/config/joy_teleop.yaml

@@ -7,10 +7,10 @@ joy_teleop:
       deadman_buttons: [5]
       axis_mappings:
         twist-linear-x:
-          axis: 1
-          scale: 1.0
+          axis: 3
+          scale: -1.0
           offset: 0.0
         twist-angular-z:
-          axis: 3
+          axis: 1
           scale: 1.0
           offset: 0.0