update for husky

docs/source/how_to_use_husky.rst

@@ -0,0 +1,94 @@
+How To Use on Husky
+=====================================
+
+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
+----------------
+
+A. Set up Husky sim
+^^^^^^^^^^^^^^^^^^^^^^^^^
+   1. Clone the turtle bot sim in mowito_ws (the one you setup during installation)
+
+      ``cd ~/mowito_ws/src/ && git clone https://github.com/akshay-antony/mowito_husky.git``
+
+   2. Install the dependencies 
+
+      ``cd ~/mowito_ws/ && rosdep install --from-paths src --ignore-src -r -y``
+
+   3. Build the workspace
+
+      ``catkin_make``
+
+
+B. Running Navigation with no Map (SLAM) / Navigation to create Map
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+            0. Start the simulator, on one terminal:
+
+                  ``roslaunch husky_gazebo husky_playpen.launch``
+
+            1. One a new terminal 
+
+               then follow on of the three ways to run the robot without map
+
+                  1.1. **Navigation, by giving goals through the rviz**:
+
+                        ``roslaunch mowito_husky sim_mw_navigation_with_no_map.launch``
+
+                  on rviz, give goals on the map, and the robot will move autnomously while creating the map
+
+                  1.2. **Autonomous goal selection ,through Exploration**:
+
+                        ``roslaunch mowito_husky sim_mw_mapping_with_explore.launch``
+
+                  on rviz you can see the robot automatically moving and exploring the area
+
+                  1.3. **Manual navigation**:
+
+                        ``roslaunch mowito_husky sim_mw_mapping.launch``
+
+                  in another terminal, start the remote control:
+
+                        ``rosrun teleop_twist_keyboard teleop_twist_keyboard``
+
+                  and use it move the robot around
+
+            2. While moving the robot is simultaneously creating the map too. In order to 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 and mymap.yaml
+
+C. Running Navigation  with a pre-exitsting Map
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+            0. Start the simulator, on one terminal:
+
+                  ``roslaunch husky_gazebo husky_playpen.launch``
+
+
+            1. Now, on the other terminal for running the entire system with mowito’s controller run
+
+                  ``roslaunch mowito_husky sim_mw_navigation.launch``
+
+               If you want to use the map created in the previous section use this
+
+                  ``roslaunch mowito_husky sim_mw_navigation.launch map_name:=mymap``
+
+
+            2. 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
+
+            3. look at the output on the rviz, the path planned and the motion of the robot.

docs/source/how_to_use_turtlebot.rst

@@ -1,4 +1,4 @@
-How To Use on Turtle Bot
+How To Use on TurtleBot
 =====================================
 
 On all the terminals you open, source the ROS:

docs/source/index.rst

@@ -21,6 +21,8 @@ Mowito's Navigation Stack documentation
    how_to_use_rosbot
 
    how_to_use_turtlebot
+
+   how_to_use_husky
 
    Tips