add setup script

docs/source/Installation.rst

@@ -1,36 +1,20 @@
+Setting up  mowito
+=======================
 
-Installation
-============
+User Registration
+-------------------
 
-    1.Pre-requisite: install ROS 1 (kinetic or later) based on your ubuntu version.
+Register yourself on this website https://mowito.in/register.html
 
-      Prepare the repository::
+Installing Mowito on Computer
+------------------------------------------
 
-            cd ~
-            mkdir -p mowito_ws/src
-            cd ~/mowito_ws/src
-            catkin_init_workspace
-            cd ~/mowito_ws
-            catkin_make
+1. Clone the repo in the home directory, using
 
-      Above commands should execute without any warnings or errors.
+``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``\ 
+   ``./remove_mowito.sh melodic``
 
-    2.Clone this repository to your workspace::
-
-            cd ~/mowito_ws/src
-            git clone https://gitlab.com/mowito_release/mowito_sim.git
-
-    3.Install depencencies::
-
-            cd ~/mowito_ws
-            rosdep install --from-paths src --ignore-src -r -y
-
-    4.Build the workspace::
-
-            cd ~/mowito_ws
-            catkin_make
-
-      From this moment you can use rosbot simulations. Please remember that each time, when you open new terminal window, you will need to load system variables::
-
-            source ~/mowito_ws/devel/setup.sh
+3. Install the new Mowito stack ``./setup_mowito.sh melodic``

docs/source/conf.py

@@ -48,8 +48,8 @@
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
-# source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
+source_suffix = ['.rst', '.md']
+# source_suffix = '.rst'
 
 # The master toctree document.
 master_doc = 'index'

docs/source/index.rst

@@ -3,7 +3,7 @@
    You can adapt this file completely to your liking, but it should at least
    contain the root `toctree` directive.
 
-Mowito's Navigation Stack documentation!
+Mowito's Navigation Stack documentation
 =========================================
 
 
@@ -18,6 +18,8 @@ Mowito's Navigation Stack documentation!
 
    Installation
 
+   setup
+
    how_to_use  
 
    Tips

docs/source/setup.rst

@@ -0,0 +1,65 @@
+Running the Mowito's Navigation Stack
+=====================================
+
+For Simulation
+--------------
+
+For Simulation, check ~/mowito/launch/simulation for the required launch
+files. The procedures and names are similar to the launch files for
+running on the real robot (mentioned below).
+
+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**\  ``source /opt/ros/melodic/setup.bash``\ 
+   ``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**\  ``source /opt/ros/melodic/setup.bash``\ 
+   ``roslaunch ~/mowito/launch/run_navigation_with_no_map.launch``\  in
+   another terminal start rviz ``source /opt/ros/melodic/setup.bash``\ 
+   ``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**\ 
+   ``source /opt/ros/melodic/setup.bash``\ 
+   ``roslaunch ~/mowito/launch/run_mw_mapping_with_explore.launch``\  in
+   another terminal start rviz ``source /opt/ros/melodic/setup.bash``\ 
+   ``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
+   ``source /opt/ros/melodic/setup.bash``\ 
+   ``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
+
+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 /opt/ros/melodic/setup.bash``\ 
+   ``roslaunch ~/mowito/launch/run_mw_navigation.launch map_name:=mymap``\ 
+
+3. in another terminal start rviz
+   ``source /opt/ros/melodic/setup.bash``\ 
+   ``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.
+
+