added additional tips file

docs/source/additional_tips.rst

@@ -0,0 +1,51 @@
+Additional features for Navigation  
+===========================================
+
+Overview
+-------------------------------------
+	- In addition to the waypoint navigation feature in simulation, one can also simulate the robot by giving route points via route.yaml (type) file. 
+	- This feature provides user the ability to give pre-planned goals.
+	- There are two ways for using this feature. We will be using the example of husky robot simulation to explain this:
+
+::
+
+      NOTE: While using this feature, it is highly recommended that one uses the genroute planner and the pure_pursuit controller for optimal results. 
+ 
+A. Changing parameters in the mission_executive_params.yaml file before launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   1. Open the mission_executive_params.yaml file located inside the mowito_husky/husky/mowito_husky/config/mission_executive_config folder of the mowito_husky package.
+
+   2. Change the planner tag to 'genroute' and the controller tag to 'pure_pursuit_controller'.  
+
+   3. Now, lets run navigation with map:
+
+      ``roslaunch mowito_husky sim_mw_navigation.launch``
+
+   4. In a new terminal, run the set_route_client node with the appropriate file path to the route.yaml (type) file. Sample route files are available in the samples folder of the mowito_husky package:
+
+      ``rosrun executive set_route_client path/to/route/file``     
+
+
+B. Using rosservice after launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   1. Lets run navigation with map:
+
+      ``roslaunch mowito_husky sim_mw_navigation.launch``
+
+   2. Use the change_planner and change_controller services to change the planner and controller respectively. For this, in a new terminal, execute:  
+
+      ``rosservice call /mission_executive/change_planner genroute``
+
+      ``rosservice call /mission_executive/change_controller pure_pursuit_controller``
+
+   4. Now, in a new terminal, run the set_route_client node with the appropriate file path to the route.yaml (type) file. Sample route files are available in the samples folder of the mowito_husky package:
+
+      ``rosrun executive set_route_client path/to/route/file``
+
+
+.. image:: Images/additional_tips/set_route.png
+  :alt: set_route.png
+
+*Example: rosbot following a given route*
+
+

docs/source/index.rst

@@ -36,3 +36,5 @@ Mowito's Navigation Stack documentation
 
    Tips
 
+   additional_tips
+