add turtle bot instructions

docs/source/how_to_use_turtlebot.rst

@@ -0,0 +1,84 @@
+How To Use on ROSbot
+=====================================
+
+On all the terminals you open, source the ROS:
+
+For ROS Melodic
+
+   ``source /opt/ros/melodic/setup.bash``
+
+For ROS Kinetic 
+
+   ``source /opt/ros/kinetic/setup.bash``
+
+
+::
+
+      TIP add the above line to your bashrc, so that it is automatically sourced
+
+
+For Simulation
+--------------
+
+A. Set up turtle bot sim
+^^^^^^^^^^^^^^^^^^^^^^^^^
+   1. Clone the turtle bot sim in mowito_ws (the one you setup during installation)
+
+      ``cd ~/mowito_ws/src/ && git clone ``
+
+   2. Build the workspace 
+      ``cd ~/mowito_ws/ && catkin_make``
+
+
+B. Running Navigation with no Map / Navigation to create Map
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+            1. Create a map using either of these three methods:
+
+                  1.1. **Manual navigation**:
+
+
+                        ``roslaunch mowito_turtlebot sim_mw_mapping.launch``
+
+                  in another terminal, start the remote control:
+
+                        ``rosrun teleop_twist_keyboard teleop_twist_keyboard``
+
+                  and use it move the robot around
+
+                  1.2. **Navigation, by giving goals through the rviz**:
+
+                        ``roslaunch mowito_turtlebot sim_navigation_with_no_map.launch``
+
+                  on rviz, give goals on the map, and the robot will move autnomously while creating the map
+
+                  1.3. **Autonomous goal selection ,throuh Exploration**:
+
+                        ``roslaunch mowito_turtlebot sim_mw_mapping_with_explore.launch``
+
+                  on rviz you can see the robot automatically moving and exploring the area
+
+            2. Once you are done creating the map on rviz, save the map 
+               on a new terminal exeute the following:
+
+                        ``cd && rosrun map_server map_saver -f mymap``
+
+               the map (pgm and yaml) is saved  in the home directory with the name mymap.pgm and mymap.yaml
+
+C. Running Navigation  with a pre-exitsting Map
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+            1. Place the robot at the origin of map (the place where you started mapping)
+
+            2. Now, for running the entire system with mowito’s controller run
+
+                  ``roslaunch mowito_turtlebot sim_mw_navigation.launch``
+
+            If you want to use the map created in the previous section use this
+
+                  ``roslaunch mowito_turtlebot sim_mw_navigation.launch map_name:=mymap``
+
+
+            3. In the rviz, click on the second top panel, click on the nav goal option, and click on the displayed map to give goal to the robot
+
+            4. look at the output on the rviz, the path planned and the motion of the robot.
+

docs/source/index.rst

@@ -18,7 +18,7 @@ Mowito's Navigation Stack documentation
 
    Installation
 
-   how_to_use
+   how_to_use_rosbot
 
    Tips