[25/09/2020]Added STDR Simulator

docs/simulation/stdr/Basics.md

@@ -0,0 +1,25 @@
+### General Introduction
+STDR is a simple two dimensional robot simulator. It is very useful in cases where there is no need for computationally costly 3-D simulation of robots. It is computationally light and serves the purpose good. Hence it is very useful for learning based robotics or for multi robot simulation.
+### Installation
+1. For ROS Kinetic, stdr can be installed using apt-get.
+2. For ROS Melodic, it is advisible to install stdr from [source](https://github.com/stdr-simulator-ros-pkg/stdr_simulator)
+
+### Architecture Overview
+![](images/architecture.jpg){: style="height:500px"}
+(Reference: [ROS Wiki](http://wiki.ros.org/stdr_simulator))
+
+### Basic Usage
+- The ```stdr_launchers``` package contains launch files basic usage. However, custom launch files can be created to serve personal purposes easily. Some of the launch files are
+	1. ```server_no_map.launch``` launches the stdr server without any map, robot or the gui.
+	2. ```server_with_map_and_gui.launch``` launches the serve with preloaded map and gui.
+	3. ```server_with_map_and_gui_plus_robot.launch``` launches the stdr_server, with preloaded map and robot along with the gui
+- You can also launch Rviz with a preset config file using ```rviz.launch``` file in the stdr_launchers package.
+
+### Robot Namespaces
+1. The topics corresponding to each robot have a unique namespace attached to it. For example the first robot launched has a namespace ```/robot0```. Published topics pertaining to that robot are published as ```/robot0/topic_name```. 
+2. Note that whenever a new robot is spawned the robot number is incremented by 1. This happens even though you delete a robot.
+3. such namespacing avoids conflicts of topic names when doing multi robot simulation.
+
+### References
+1. For more information refer the ```stdr_simulator``` page  in [ROS Wiki](http://wiki.ros.org/stdr_simulator).
+2. The github [repository](https://github.com/stdr-simulator-ros-pkg/stdr_simulator) for stdr_simulator.

mkdocs.yml

@@ -105,6 +105,8 @@ nav:
     - Introduction: simulation/intro.md
     - Gazebo:
       - Basics of Gazebo: simulation/gazebo/basics.md
+    - STDR Simulator:
+      - Basics of STDR: simulation/stdr/Basics.md
 
   - About Us: about.md