update the documentation

mowito · Aug 18, 2020 · 26b2796 · 26b2796
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diff --git a/docs/source/Installation.rst b/docs/source/Installation.rst
@@ -15,36 +15,58 @@ Installing Mowito on Computer
 
 Ubuntu 18 - ROS Melodic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1. Create a ROS workspace directory structure (would usefule in running simulation)
+
+	``mkdir -p ~/mowito_ws/src/``\
 
-1. Clone the repo in the home directory, using
+2. Clone the repo in the workspace you just created, using
 
-``git clone -b melodic https://github.com/mowito/mowito_amd64.git ~/mowito_amd64``\ 
+	``cd mowito_ws/src/``
 
-2. Remove any previous installation of Mowito stack 
+	``git clone -b melodic https://github.com/mowito/mowito_amd64.git`` 
 
-   ``cd ~/mowito_amd64``\ 
+3. Remove any previous installation of Mowito stack 
 
-   ``./remove_mowito.sh melodic``
+	``cd mowito_amd64``\ 
 
-3. Install the new Mowito stack 
+	``./remove_mowito.sh melodic``
+
+4. Install the new Mowito stack 
+
+ 	``./setup_mowito.sh melodic``\
+
+5. [OPTIONAL] If you want to use the Rosbot Simulation, then build the workspace
+
+	``source /opt/ros/melodic/setup.bash``\
+
+	``cd ~/mowito_ws && catkin_make``
 
- ``./setup_mowito.sh melodic``
 
 
 Ubuntu 16 - ROS Kinetic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1. Create a ROS workspace directory structure (would usefule in running simulation)
+	``mkdir -p ~/mowito_ws/src/``
+
+2. Clone the repo in the workspace you just created, using
+
+	``cd mowito_ws/src/``\
 
-1. Clone the repo in the home directory, using
+	``git clone -b kinetic https://github.com/mowito/mowito_amd64.git``\ 
 
-``git clone -b kinetic https://github.com/mowito/mowito_amd64.git ~/mowito_amd64``\ 
+3. Remove any previous installation of Mowito stack 
 
-2. Remove any previous installation of Mowito stack 
+	``cd ~/mowito_amd64``\ 
 
-   ``cd ~/mowito_amd64``\ 
+	``./remove_mowito.sh kinetic``
 
-   ``./remove_mowito.sh kinetic``
+4. Install the new Mowito stack 
 
-3. Install the new Mowito stack 
+	``./setup_mowito.sh kinetic``\
 
- ``./setup_mowito.sh kinetic``
+5. [OPTIONAL] If you want to use the Rosbot Simulation, then build the workspace
+
+	``source /opt/ros/melodic/setup.bash``\
+
+	``cd ~/mowito_ws && catkin_make``
 
diff --git a/docs/source/how_to_use.rst b/docs/source/how_to_use.rst
@@ -1,4 +1,4 @@
-How To Use
+How To Use on ROSbot
 =====================================
 
 On all the terminals you open, source the ROS:
@@ -30,7 +30,7 @@ A. Running Navigation with no Map / Navigation to create Map
                   1.1. **Manual navigation**:
 
 
-                        ``roslaunch ~/mowito/launch/simulation/sim_mw_mapping.launch``
+                        ``roslaunch mowito_rosbot sim_mw_mapping.launch``
 
                   in another terminal, start the remote control:
 
@@ -40,13 +40,13 @@ A. Running Navigation with no Map / Navigation to create Map
 
                   1.2. **Navigation, by giving goals through the rviz**:
 
-                        ``roslaunch ~/mowito/launch/simulation/sim_navigation_with_no_map.launch``
+                        ``roslaunch mowito_rosbot 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/launch/simulation/sim_mw_mapping_with_explore.launch``
+                        ``roslaunch mowito_rosbot sim_mw_mapping_with_explore.launch``
 
                   on rviz you can see the robot automatically moving and exploring the area
 
@@ -64,11 +64,11 @@ B. Running Navigation  with a pre-exitsting Map
 
             2. Now, for running the entire system with mowito’s controller run
 
-                  ``roslaunch ~/mowito/launch/simulation/sim_mw_navigation.launch``
+                  ``roslaunch mowito_rosbot sim_mw_navigation.launch``
 
             If you want to use the map created in the previous section use this
 
-                  ``roslaunch ~/mowito/launch/simulation/sim_mw_navigation.launch map_name:=mymap``
+                  ``roslaunch mowito_rosbot 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
@@ -77,8 +77,8 @@ B. Running Navigation  with a pre-exitsting Map
 
 
 
-On Real Robot
--------------
+On Real ROSbot Robot
+--------------------------
 
 A. Running Navigation with no Map / Navigation to create Map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -87,7 +87,7 @@ A. Running Navigation with no Map / Navigation to create Map
 
                   1.1. **manual navigation**\  
 
-                        ``roslaunch ~/mowito/launch/run_mw_mapping.launch``\  
+                        ``roslaunch mowito_rosbot run_mw_mapping.launch``\  
 
                      in another terminal, start the remote control
 
@@ -98,7 +98,7 @@ A. Running Navigation with no Map / Navigation to create Map
 
                   1.2. **Navigation, by giving goals through the rviz**\  
 
-                        ``roslaunch ~/mowito/launch/run_navigation_with_no_map.launch``\  
+                        ``roslaunch mowito_rosbot run_navigation_with_no_map.launch``\  
 
                      in another terminal start rviz 
 
@@ -109,11 +109,11 @@ A. Running Navigation with no Map / Navigation to create Map
 
                   1.3. **Autonomous goal selection ,throuh Exploration**\ 
 
-                        ``roslaunch ~/mowito/launch/run_mw_mapping_with_explore.launch``\  
+                        ``roslaunch mowito_rosbot run_mw_mapping_with_explore.launch``\  
 
                      in another terminal start rviz 
 
-                        ``roslaunch ~/mowito/launch/start_rviz.launch``\  
+                        ``roslaunch mowito_rosbot start_rviz.launch``\  
 
                      on rviz you can see the robot automatically moving and exploring the area
 
@@ -133,12 +133,12 @@ B. Running Navigation with a pre-exitsting Map
             2. Now, for running the entire system with mowito’s controller run
 
 
-                  ``roslaunch ~/mowito/launch/run_mw_navigation.launch map_name:=mymap``\ 
+                  ``roslaunch mowito_rosbot run_mw_navigation.launch map_name:=mymap``\ 
 
             3. in another terminal start rviz
 
 
-                  ``roslaunch ~/mowito/launch/start_rviz.launch``\ 
+                  ``roslaunch mowito_rosbot start_rviz.launch``\ 
 
             4. 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