update to docs

nebbles · Feb 5, 2018 · 50ef72c · 50ef72c
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diff --git a/docs/source/documentation.rst b/docs/source/documentation.rst
@@ -19,3 +19,4 @@ The following resources were useful in the setting up of Sphinx and Read The Doc
 * Screencast: https://www.youtube.com/watch?v=oJsUvBQyHBs
 * RTD Guide: https://docs.readthedocs.io/en/latest/getting_started.html
 * Documenting a project with Sphinx (lecture): https://www.youtube.com/watch?v=QNHM7q2hLh8
+* Sphinx markup: http://www.sphinx-doc.org/en/stable/markup/
diff --git a/docs/source/franka.rst b/docs/source/franka.rst
@@ -5,9 +5,15 @@ FRANKA Panda
 Starting up the Panda
 =====================
 
-The Panda arm should be connected to the workshop floor controller and powered up. When booting, the arm LEDs will flash yellow. Once the arm is booted (solid yellow when completed) you should release the brakes by connecting a computer via ethernet to the base of the arm.
+The Panda arm should be connected to the workshop floor controller and powered up. When booting, the arm LEDs will flash yellow. Once the arm is booted (solid yellow when completed) you should release the brakes by connecting a computer via ethernet to the base of the arm (see image).
 
-Log into the controller web interface (http://#) with:
+.. figure:: franka_wiring_guide_robot_arm.png
+    :align: center
+    :figclass: align-center
+
+    Configuration of wiring for connecting to the FRANKA web interface.
+
+Log into the controller web interface (http://robot.franka.de) with:
 
 * Username: ``robin``
 * Password: ``panda``
@@ -30,12 +36,18 @@ With the Arm in movement mode, it can be manually manipulated by squeezing the b
 Networking with Panda
 =====================
 
-If you want to use a workstation computer to control the Arm without the web interface, first ensure you have completed the above steps to unlock the Arm brakes. Then move the ethernet cable from the base of the Arm, and connect it to the shop floor controller.
+If you now want to use a workstation computer to control the Arm via the FRANKA Control Interface (FCI) libraries, **first ensure you have completed the above steps to unlock the Arm brakes**. Then move the ethernet cable from the base of the Arm, and connect it to the shop floor controller (as seen in image).
+
+.. figure:: franka_wiring_guide_shop_floor.png
+    :align: center
+    :figclass: align-center
+
+    Configuration of wiring for connecting to the FRANKA Control Interface (ROS libraries).
 
 .. attention::
   According to `FRANKA documentation <https://frankaemika.github.io/docs/getting_started.html#operating-the-robot>`_: "the workstation PC which commands your robot using the FCI must always be connected to the LAN port of Control (shop floor network) and **not** to the LAN port of the Arm (robot network)."
 
-With the workstation computer connected to the shop floor controller, set a static IPv4 address from the computer in the ethernet settings. The recommended values are seen below:
+With the workstation computer connected to the shop floor controller, you must set a static IPv4 address for the computer in the Ubuntu network settings. The recommended values are seen below:
 
 =======================  ============  ==============================
 Device                   IP Address    Notes
@@ -48,7 +60,9 @@ Workstation              192.168.0.77  Should be static (in settings)
 .. important::
   It is important to note that the IP address of the FRANKA Arm and shop floor controller are static and **should not be changed**. Use this table as reference.
 
-You can confirm that the workstation computer is able to communicate with the workshop controller by pinging the IP address from the terminal: ``ping 192.168.0.88``
+You can confirm that the workstation computer is able to communicate with the workshop controller by pinging the IP address from the terminal::
+
+  $ ping 192.168.0.88
 
 .. note:: Communicating with the Panda does not currently work over a network switch. The ethernet cable should be direct from shop floor controller to workstation computer. Unfortunately this means you computer will not be able to connect to the internet.
 

diff --git a/docs/source/franka_wiring_guide_robot_arm.png b/docs/source/franka_wiring_guide_robot_arm.png
diff --git a/docs/source/franka_wiring_guide_shop_floor.png b/docs/source/franka_wiring_guide_shop_floor.png
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -3,17 +3,33 @@
    You can adapt this file completely to your liking, but it should at least
    contain the root `toctree` directive.
 
-Welcome to DE3-ROB1-CHESS's documentation!
-==========================================
+DE3-ROB1 CHESS Group Documentation
+==================================
+
+| Design Engineering, Imperial College London
+| Robotics 1 Module
+| Chess Project
+|
+
+Authors:
+~~~~~~~~
+
+* Anna Bernbaum, anna.bernbaum15@imperial.ac.uk
+* Ben Greenberg, benedict.greenberg15@imperial.ac.uk
+* Josephine Latreille, josephine.latreille15@imperial.ac.uk
+* Sanish Mistry, sanish.mistry15@imperial.ac.uk
+* Leah Pattison, leah.pattison15@imperial.ac.uk
+* Paolo Ruegg, paolo.ruegg15@imperial.ac.uk
+* Sylvia Zhang, zixia.zhang15@imperial.ac.uk
 
-Contents:
 
 .. toctree::
    :maxdepth: 2
    :caption: Working with FRANKA Panda
 
    franka
    workstation
+   operating
 
 .. toctree::
   :maxdepth: 2

diff --git a/docs/source/operating.rst b/docs/source/operating.rst
@@ -0,0 +1,29 @@
+*******************
+Operating the Robot
+*******************
+
+Using the provided workstation
+==============================
+
+To log into the provided workstation:
+
+* Username: ``robin``
+* Password: ``deniro``
+
+.. note::
+  If you do not use a provided workstation, ensure you have completed all the steps in the :doc:`workstation` page.
+
+Getting Started with ROS
+========================
+
+#. In your home directory, ensure you have set up a `complete catkin workspace`_.
+#. Within that workspace, `create a catkin package`_.
+#. TBC...
+
+.. _`complete catkin workspace`: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
+.. _`create a catkin package`: http://wiki.ros.org/ROS/Tutorials/CreatingPackage
+
+Additional Resources
+====================
+
+https://frankaemika.github.io/docs/getting_started.html#operating-the-robot
diff --git a/docs/source/workstation.rst b/docs/source/workstation.rst
@@ -15,7 +15,7 @@ Requirements for FRANKA Workstation
 #. Once completed, ensure you are running a real-time kernel with ``uname -r``
 #. Install ROS Kinetic
 #. Install ``libfranka`` and ``franka_ros``
-#. TBD...
+#. TBC...
 
 Install the realtime kernel patch
 =================================
@@ -30,21 +30,39 @@ http://wiki.ros.org/kinetic/Installation/Ubuntu
 Install FRANKA Libraries
 ========================
 
-Binary packages for ``libfranka`` and ``franka_ros`` are available from the ROS repositories. After setting up ROS Kinetic, execute::
+.. attention:: It is recommended that you **DO NOT** install from source. There are lots of problems with compiling versions which work with the current firmware version of the Panda.
 
-  sudo apt install ros-kinetic-libfranka ros-kinetic-franka-ros
+Option 1: Install binaries via ``apt``
+--------------------------------------
 
-.. attention:: It is recommended that you **DO NOT** install from source. There are lots of problems with compiling versions which work with the current firmware version of the Panda.
+Binary packages for ``libfranka`` and ``franka_ros`` are available from the ROS repositories. After setting up `ROS Kinetic <wiki.ros.org/kinetic/Installation/Ubuntu>`_, execute::
+
+  sudo apt install ros-kinetic-libfranka
+  sudo apt install ros-kinetic-franka-ros
+
+Note that if you use ``apt-get`` or ``apt`` to install a package on Ubuntu, you can use ``dpkg -L <packagename>`` to find where on the system the files for a particular package are installed.
+
+Option 2: Install and compile from source (not recommended)
+-----------------------------------------------------------
 
 To install from source, you may need to use the following commands:
 
 * ``$ git clone`` will give you the whole repository.
 * ``$ git tag -l`` will list available tags.
 * ``$ git checkout tags/<tag_name>`` will allow you to change repo to a specific tag, ``<tag_name>``.
 
-If you use ``apt-get`` or ``apt`` to install a package on Ubuntu, you can use ``dpkg -L <packagename>`` to find where on the system the files for a particular package are installed.
+Test with examples
+==================
 
-Operating the robot
-===================
+After installing ``ros-kinetic-libfranka``, you can run the examples located in ``~/git/libranka/build/examples`` such as::
+
+  ./generate_cartesian_pose_motion <host-name>
+  ./generate_cartesian_velocity_motion <host-name>
+
+Remember, for this to work:
+
+* The FRANKA Arm must be in movement mode (white light).
+* The workstation PC must be connected to the shop floor controller by ethernet.
 
-https://frankaemika.github.io/docs/getting_started.html#operating-the-robot
+.. tip::
+  You can confirm that the workstation computer is able to communicate with the workshop controller by pinging the IP address from the terminal: ``ping 192.168.0.88``. For more information see the :doc:`franka` page.
diff --git a/docs/source/~$franka_wiring_guide.pptx b/docs/source/~$franka_wiring_guide.pptx