update the names and few steps

mowito · Oct 22, 2020 · 71944bd · 71944bd
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diff --git a/docs/source/Installation.rst b/docs/source/Installation.rst
@@ -51,7 +51,7 @@ Software Requirements
 
 
 ----------------------------------------------
-Setting up Mowito Navigation Stack on Computer
+Setting up Mowito Navigation Stack 
 ----------------------------------------------
 
 User Registration
@@ -63,60 +63,51 @@ We need your email to mail you the password, and to count how many people are us
 
 We won't spam. :) 
 
-Ubuntu 18 - ROS Melodic
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Installing the Mowito on Computer ( amd64 or x86)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
 1. Create a ROS workspace directory structure (would be useful in running simulation)
 
 	``mkdir -p ~/mowito_ws/src/``\
 
 2. Clone the repo in the workspace you just created, using
 
 	``cd ~mowito_ws/src/``
+
+	for Ubuntu 18 - ROS Melodic
 
-	``git clone -b melodic https://github.com/mowito/mowito_amd64.git`` 
-
-3. Remove any previous installation of Mowito stack 
-
-	``cd mowito_amd64``\ 
+	``git clone -b melodic https://github.com/mowito/mowito_amd64.git`` \
 
-	``./remove_mowito.sh melodic``
+	for Ubuntu 16 - ROS Kinetic
 
-4. Install the new Mowito stack 
+	``git clone -b kinetic https://github.com/mowito/mowito_amd64.git``\ 
 
- 	``./setup_mowito.sh melodic``\
+3. Remove any previous installation of Mowito stack 
 
-5. [OPTIONAL] If you want to use the Rosbot Simulation, then build the workspace
-
-	``cd ~/mowito_ws && catkin_make``\
-
-	``source <path to mowito_ws>/devel/setup.bash``	
+	``cd mowito_amd64``\ 
 
-Ubuntu 16 - ROS Kinetic
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-1. Create a ROS workspace directory structure (would be useful in running simulation)
+	for Ubuntu 18 - ROS Melodic
 
-	``mkdir -p ~/mowito_ws/src/``
+	``./remove_mowito.sh melodic``
 
-2. Clone the repo in the workspace you just created, using
+	for Ubuntu 16 - ROS Kinetic
 
-	``cd mowito_ws/src/``\
+	``./remove_mowito.sh kinetic``
 
-	``git clone -b kinetic https://github.com/mowito/mowito_amd64.git``\ 
+4. Install the new Mowito stack 
 
-3. Remove any previous installation of Mowito stack 
+ 	for Ubuntu 18 - ROS Melodic
 
-	``cd ~/mowito_amd64``\ 
+ 	``./setup_mowito.sh melodic``\
 
-	``./remove_mowito.sh kinetic``
+ 	for Ubuntu 16 - ROS Kinetic
 
-4. 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
-	
-	``cd ~/mowito_ws && catkin_make``\
+Installing the Mowito on the Robot -ROSbot  ( arm64, armhf)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+ Checkout :ref:`installation instructions for ROSbot<installion on rosbot>`. You can try out same steps on the turtlebot and other robots as well.
 
-	``source <path to mowito_ws>/devel/setup.bash``
 
 
diff --git a/docs/source/config.rst → docs/source/config_yaml.rst b/docs/source/config.rst → docs/source/config_yaml.rst
@@ -2,7 +2,7 @@ Config Paramaters
 ======================================
 
 Mission Executive Config Parameters
---------------------
+----------------------------------------
 Below is a brief of the parameters in the Mission Executive Config file.
 
 

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -38,7 +38,7 @@ Mowito's Navigation Stack documentation
 
    step_5c
 
-   config
+   config_yaml
 
    rosbot_real
 

diff --git a/docs/source/rosbot_real.rst b/docs/source/rosbot_real.rst
@@ -65,20 +65,24 @@ Connect To ROSBot
 
 
 -----------------------------
-Setup Mowito's Stack On It
+Setup Mowito's Stack On Robot
 -----------------------------
 
 User Registration
 ^^^^^^^^^^^^^^^^^
 
+If you have already done, you can skip this step.
+
 Register yourself on this website https://mowito.in/navigation_stack.html
 
 We need your email to mail you the password, and to count how many people are using Mowito.
 
 We won't spam. :) 
 
-Installation
-^^^^^^^^^^^^^^^
+.. _installion on rosbot:
+
+Installation on ROSbot
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
   1. **SSH** into the ROSBot
 
@@ -89,14 +93,14 @@ Installation
   3. Clone the repo containing the debians:
       ``cd ~/mowito_ws/src``\
 
-      for ROS melodic  
-      ``git clone https://github.com/mowito/mowito_armv7.git --branch melodic``
+      for ROS melodic on arm 64 
+      ``git clone https://github.com/mowito/mowito_arm64.git --branch melodic``
 
-      for ROS kinetic \
+      for ROS kinetic on armV7 (armhf) \
       ``git clone https://github.com/mowito/mowito_armv7.git --branch kinetic``
 
   4. Remove any previous installation of Mowito stack 
-      ``cd mowito_armv7``\ 
+      ``cd mowito_arm64`` or ``cd mowito_armv7``   based on arm 64 or armV7 respcectively.
 
       for ROS melodic
       ``./remove_mowito.sh melodic``
@@ -177,7 +181,7 @@ Step 1 : Launch the Mowito Navigation without Map
 
     ``roslaunch mowito_rosbot run_mw_navigation_with_no_map.launch cartographer:=true``
 
-    3. With Slam Toolbox
+
 
 
 Step 2: Provide Goal
@@ -218,12 +222,12 @@ the map (pgm and yaml) is saved  in the home directory with the name mymap.pgm a
     the map (pbstream) is saved in the home directory with the name map_name.pbstream. If no map_name is given then it would save as map.pbstream
 
 
-3) SLAM toolbox
-~~~~~~~~~~~~~~~~~
+.. 3) SLAM toolbox
+.. ~~~~~~~~~~~~~~~~~
 
-in order to save the map,
+.. in order to save the map,
 
-        ``rosservice call /slam_toolbox/serialize_map "rosbot"``
+..         ``rosservice call /slam_toolbox/serialize_map "rosbot"``
 
 
 -----------------------------------
@@ -262,26 +266,26 @@ Step 2 : Run the Mowito's Navigation Stack
       ``roslaunch mowito_rosbot run_mw_navigation.launch cartographer:=true``
 
 
-3. SLAM toolbox based localization
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. 3. SLAM toolbox based localization
+.. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-    Follow this if you used SLAM toolbox to create the map in the previous step
+..     Follow this if you used SLAM toolbox to create the map in the previous step
 
-      3.1. move the map data to .ros folder in your system by running the following two commands:
+..       3.1. move the map data to .ros folder in your system by running the following two commands:
 
-       ``cd <path_to_mowito_ws>/src/mowito_husky/husky/mowito_husky/maps/``
+..        ``cd <path_to_mowito_ws>/src/mowito_husky/husky/mowito_husky/maps/``
 
-       ``cp husky_serialize.data husky_serialize.posegraph ~/.ros/``
+..        ``cp husky_serialize.data husky_serialize.posegraph ~/.ros/``
     
-      3.2. set the name of the map file and map start pose [x,y,theta] in mowito_ws/src/mowito_husky/husky/mowito_husky/config/slam_toolbox_config/slam_toolbox_localization.yaml:
+..       3.2. set the name of the map file and map start pose [x,y,theta] in mowito_ws/src/mowito_husky/husky/mowito_husky/config/slam_toolbox_config/slam_toolbox_localization.yaml:
 
-       ``map_file_name: husky_serialize``
+..        ``map_file_name: husky_serialize``
 
-       ``map_start_pose: [0.0, 0.0, 0.0]``
+..        ``map_start_pose: [0.0, 0.0, 0.0]``
     
-      3.3. run slam toolbox for mapping/ SLAM with velodyne:
+..       3.3. run slam toolbox for mapping/ SLAM with velodyne:
     
-       ``roslaunch mowito_husky sim_mw_navigation_slam_toolbox.launch``
+..        ``roslaunch mowito_husky sim_mw_navigation_slam_toolbox.launch``
 
 
 Step 3 : Give the goals

diff --git a/docs/source/step_1.rst b/docs/source/step_1.rst
@@ -1,5 +1,5 @@
 ==============================================
-Part 1 : Choosing a Bot for Simulation
+Step 1 : Choosing a Bot for Simulation
 ==============================================
 
 The following Bot are currently compatible with the Mowito Navigation Stack.

diff --git a/docs/source/step_2.rst b/docs/source/step_2.rst
@@ -1,5 +1,5 @@
 ======================
-Part 2 : Setup the Bot
+Step 2 : Setup the Bot
 ======================
 
 This section shall provide the instructions to setup the stack on the chosen Bot.

diff --git a/docs/source/step_3.rst b/docs/source/step_3.rst
@@ -1,5 +1,5 @@
 =======================
-Part 3 : Generate a Map
+Step 3 : Generate a Map
 =======================
 
 The Mowito Navigation Stack provides three methods to generate a map.

diff --git a/docs/source/step_4.rst b/docs/source/step_4.rst
@@ -1,5 +1,5 @@
 ================================
-Part 4 : Navigate the Chosen Bot
+Step 4 : Navigate the Chosen Bot
 ================================
 
 This section shall provide instructions on how to navigate the chosen Bot.

diff --git a/docs/source/step_5.rst b/docs/source/step_5.rst
@@ -1,5 +1,5 @@
 ==============================
-Part 5 : Tuning Bot Parameters
+Step 5 : Tuning Bot Parameters
 ==============================
 
 This section shall provide a guide on how to tune the Trajectory Planner, the Pure Pursuit Controller and the Teb Local Planner.

diff --git a/docs/source/step_5a.rst b/docs/source/step_5a.rst
@@ -1,5 +1,5 @@
 =======================================================
-Part 5-A : Controller - Trajectory Planner Tuning Guide
+Step 5-A : Controller - Trajectory Planner Tuning Guide
 =======================================================
 
 Overview

diff --git a/docs/source/step_5b.rst b/docs/source/step_5b.rst
@@ -1,5 +1,5 @@
 =================================================
-Part 5-B : Controller - Pure Pursuit Tuning Guide
+Step 5-B : Controller - Pure Pursuit Tuning Guide
 =================================================
 
 Description

diff --git a/docs/source/step_5c.rst b/docs/source/step_5c.rst
@@ -1,5 +1,5 @@
 ======================================================
-Part 5-C : Controller - Teb Local Planner Tuning Guide
+Step 5-C : Controller - Teb Local Planner Tuning Guide
 ======================================================
 
 Description