merge new documenation

mowito · Oct 21, 2020 · f82b5db · f82b5db
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diff --git a/docs/source/Images/2D_nav_goal_icon.png b/docs/source/Images/2D_nav_goal_icon.png
diff --git a/docs/source/Images/features_mowito.jpg b/docs/source/Images/features_mowito.jpg
diff --git a/docs/source/Images/mowito_steps.png b/docs/source/Images/mowito_steps.png
diff --git a/docs/source/Installation.rst b/docs/source/Installation.rst
@@ -1,18 +1,68 @@
-Setting up  mowito
+=======================
+Installation Guide
 =======================
 
-User Registration
 -------------------
+System Requirements
+-------------------
+
+Hardware Requirements
+^^^^^^^^^^^^^^^^^^^^^
+
+**Processor :** 
+
+	Intel core i5 or higher (minimum 4 cores) 
+
+	ARM v7/v8 (minimum 4 cores)
+
+**Memory :**
+
+	Minimum     : 4GB RAM
+
+	Recommended : 8GB RAM
+
+**Network :**
+
+	WiFi 2.4/5 GHz
+
+**Sensors(Only when running on Bot Hardware) :**
+
+	1. 2D/3D LiDAR
+
+		a) For SLAM and obstacle avoidance : 30m (wh) minimum range  
+		b) For Obstacle Avoidance          : 10m (wh) minimum range
+
+	2. Wheel encoder : 1000 pulse/rotation (minimum)
+
+	3. IMU : MPU 9250, Xsense MTi-3 AHRS, Bosch BNO055
+
+	4. GPS (When operating outdoors)
+
+Software Requirements
+^^^^^^^^^^^^^^^^^^^^^
+
+**Operating System**
+
+	Ubuntu 16.04 or higher
+
+**Mandatory tools**
+
+	Robot Operating System (ROS) Kinetic or Melodic
+
+
+----------------------------------------------
+Setting up Mowito Navigation Stack on Computer
+----------------------------------------------
+
+User Registration
+^^^^^^^^^^^^^^^^^
 
 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. :) 
 
-Installing Mowito on Computer
-------------------------------------------
-
 Ubuntu 18 - ROS Melodic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 1. Create a ROS workspace directory structure (would be useful in running simulation)
@@ -21,7 +71,7 @@ Ubuntu 18 - ROS Melodic
 
 2. Clone the repo in the workspace you just created, using
 
-	``cd mowito_ws/src/``
+	``cd ~mowito_ws/src/``
 
 	``git clone -b melodic https://github.com/mowito/mowito_amd64.git`` 
 
@@ -37,11 +87,9 @@ Ubuntu 18 - ROS Melodic
 
 5. [OPTIONAL] If you want to use the Rosbot Simulation, then build the workspace
 
-	``source <path to mowito_ws>/devel/setup.bash``\
-
-	``cd ~/mowito_ws && catkin_make``
-
-
+	``cd ~/mowito_ws && catkin_make``\
+
+	``source <path to mowito_ws>/devel/setup.bash``	
 
 Ubuntu 16 - ROS Kinetic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -67,7 +115,8 @@ Ubuntu 16 - ROS Kinetic
 
 5. [OPTIONAL] If you want to use the Rosbot Simulation, then build the workspace
 
-	``source <path to mowito_ws>/devel/setup.bash``\
-
-	``cd ~/mowito_ws && catkin_make``
+	``cd ~/mowito_ws && catkin_make``\
+
+	``source <path to mowito_ws>/devel/setup.bash``
+
 
diff --git a/docs/source/Introduction.rst b/docs/source/Introduction.rst
@@ -0,0 +1,25 @@
+=============================
+About Mowito Navigation Stack
+=============================
+
+--------
+Overview
+--------
+
+Mowito’s Navigation Platform, is a software with a module dedicated for each specific task of navigation, such as planning, controlling, recovering etc. 
+
+Each module can be configured, tested and even replaced by another custom module. All the platform needs are the details about the task or location of the goal,  and then based on the sensor inputs, it will drive the robot to perform the given task or reach the goal. 
+
+The critical features of the platform are its  flexibility and the fast obstacle avoidance.
+Our controllers are optimized to detect the obstacles and correct the path at a high frequency, without waiting for the obstacle to clear the path.
+
+You can see our controller in action on our website mowito.in
+
+
+--------------------------------
+Features of the Navigation Stack
+--------------------------------
+
+.. image:: Images/features_mowito.jpg
+   :alt: features_mowito.jpg
+   :align: center
diff --git a/docs/source/faq.rst b/docs/source/faq.rst
@@ -0,0 +1,5 @@
+==========================
+Frequently Asked Questions
+==========================
+
+In construction
diff --git a/docs/source/how_to_use_husky.rst b/docs/source/how_to_use_husky.rst
diff --git a/docs/source/how_to_use_mowito.rst b/docs/source/how_to_use_mowito.rst
@@ -0,0 +1,9 @@
+==================================
+How to use Mowito Navigation Stack
+==================================
+
+The following are the steps to be followed while using the Mowito Navigation stack.
+
+.. image:: Images/mowito_steps.png
+   :alt: mowito_steps.png
+   :align: center