update the documentation

docs/source/Installation.rst

@@ -9,12 +9,38 @@ Register yourself on this website https://mowito.in/register.html
 Installing Mowito on Computer
 ------------------------------------------
 
+Ubuntu 18 - ROS Melodic
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
 1. Clone the repo in the home directory, using
 
 ``git clone -b melodic https://github.com/mowito/mowito_amd64.git``\ 
 
-2. Remove any previous installation of Mowito stack (replace 'melodic'
-   with your ros version) ``cd ~/mowito_amd64``\ 
+2. Remove any previous installation of Mowito stack 
+
+   ``cd ~/mowito_amd64``\ 
+
    ``./remove_mowito.sh melodic``
 
-3. Install the new Mowito stack ``./setup_mowito.sh melodic``
+3. Install the new Mowito stack 
+
+ ``./setup_mowito.sh melodic``
+
+
+Ubuntu 16 - ROS Kinetic
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+1. Clone the repo in the home directory, using
+
+``git clone -b kinetic https://github.com/mowito/mowito_amd64.git``\ 
+
+2. Remove any previous installation of Mowito stack 
+
+   ``cd ~/mowito_amd64``\ 
+
+   ``./remove_mowito.sh kinetic``
+
+3. Install the new Mowito stack 
+
+ ``./setup_mowito.sh kinetic``
+

docs/source/how_to_use.rst

@@ -1,61 +1,150 @@
-How to use
-==========
-Now, since the SIM is setup, you are ready to try out all the features of Mowito:
+How To Use
+=====================================
 
-Running Navigation with no Map / Navigation to create Map
+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
+--------------
+
+The package comes with Husarion's Rosbot Simulator. Here are the steps to use it.
+
+
+A. Running Navigation with no Map / Navigation to create Map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
             1. Create a map using either of these three methods:
 
-                  1.1. **Manual navigation**::
-                  
-                        source ~/mowito_ws/devel/setup.bash
+                  1.1. **Manual navigation**:
+
 
-                        roslaunch rosbot_description rosbot_rviz_mapping.launch
+                        ``roslaunch ~/mowito/launch/simulation/sim_mw_mapping.launch``
 
-                  in another terminal, start the remote control::
+                  in another terminal, start the remote control:
 
-                        source ~/mowito_ws/devel/setup.bash
-                  
-                        rosrun teleop_twist_keyboard teleop_twist_keyboard
+                        ``rosrun teleop_twist_keyboard teleop_twist_keyboard``
 
                   and use it move the robot around
 
-                  1.2. **Navigation, by giving goals through the rviz**::
-
-                        source ~/mowito_ws/devel/setup.bash
+                  1.2. **Navigation, by giving goals through the rviz**:
 
-                        roslaunch rosbot_description rosbot_rviz_SLAM_nav.launch
+                        ``roslaunch ~/mowito/launch/simulation/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**::
+                  1.3. **Autonomous goal selection ,throuh Exploration**:
 
-                        source ~/mowito_ws/devel/setup.bash
-                  
-                        roslaunch rosbot_description rosbot_rviz_SLAM_explore.launch
+                        ``roslaunch~/mowito/launch/simulation/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::
-            
-                        source ~/mowito_ws/devel/setup.bash
-            
-                        cd && rosrun map_server map_saver -f mymap
+               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
 
-Running Navigation  with a pre-exitsting Map
+B. 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:: 
-
-                  source ~/mowito_ws/devel/setup.bash
+            2. Now, for running the entire system with mowito’s controller run
 
-                  roslaunch rosbot_description rosbot_rviz_mwpfl_nav.launch map_name:=mymap
+                  ``roslaunch ~/mowito/launch/simulation/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``
+
 
             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.
+            4. look at the output on the rviz, the path planned and the motion of the robot.
+
+
+
+On Real Robot
+-------------
+
+A. 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/launch/run_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/launch/run_navigation_with_no_map.launch``\  
+
+                     in another terminal start rviz 
+
+                        ``roslaunch ~/mowito/launch/start_rviz.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/run_mw_mapping_with_explore.launch``\  
+
+                     in another terminal start rviz 
+
+                        ``roslaunch ~/mowito/launch/start_rviz.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 andmymap.yaml
+
+
+B. 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/launch/run_mw_navigation.launch map_name:=mymap``\ 
+
+            3. in another terminal start rviz
+
+
+                  ``roslaunch ~/mowito/launch/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
+
+            5. look at the output on the rviz, the path planned and the motion of
+               the robot.
+
+
+

docs/source/index.rst

@@ -18,9 +18,7 @@ Mowito's Navigation Stack documentation
 
    Installation
 
-   setup
-
-   how_to_use  
+   how_to_use
 
    Tips