Merge pull request #50 from ETHZ-RobotX/feature/update-docs

update docs, tested on smb-dev
ETHZ-RobotX · Jun 26, 2024 · 7c410f2 · 7c410f2
2 parents f1a055e + cfa680d
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diff --git a/docs/images/CCSegmentIcon.png b/docs/images/CCSegmentIcon.png
diff --git a/docs/images/E-Stop.png b/docs/images/E-Stop.png
diff --git a/docs/images/JoyStick.png b/docs/images/JoyStick.png
diff --git a/docs/images/NodeManager.png b/docs/images/NodeManager.png
diff --git a/docs/images/NodeManagerHost.png b/docs/images/NodeManagerHost.png
diff --git a/docs/images/NodeManagerROSParams.png b/docs/images/NodeManagerROSParams.png
diff --git a/docs/images/NodeManagerSMB.png b/docs/images/NodeManagerSMB.png
diff --git a/docs/images/RCTransmitter.png b/docs/images/RCTransmitter.png
diff --git a/docs/images/artifact_gazebo.png b/docs/images/artifact_gazebo.png
diff --git a/docs/images/docker-desktop-host-networking.png b/docs/images/docker-desktop-host-networking.png
diff --git a/docs/images/docker-desktop-resource-allocation.png b/docs/images/docker-desktop-resource-allocation.png
diff --git a/docs/images/docker_setup_1.png b/docs/images/docker_setup_1.png
diff --git a/docs/images/docker_setup_2.png b/docs/images/docker_setup_2.png
diff --git a/docs/images/docker_setup_3.png b/docs/images/docker_setup_3.png
diff --git a/docs/images/documentation_local_viz_example.png b/docs/images/documentation_local_viz_example.png
diff --git a/docs/images/far planner.png b/docs/images/far planner.png
diff --git a/docs/images/gazebo_insert.png b/docs/images/gazebo_insert.png
diff --git a/docs/images/gazebo_prius.png b/docs/images/gazebo_prius.png
diff --git a/docs/images/gazebo_viz.png b/docs/images/gazebo_viz.png
diff --git a/docs/images/goalpointplugin.png b/docs/images/goalpointplugin.png
diff --git a/docs/images/local planner.png b/docs/images/local planner.png
diff --git a/docs/images/pcd_color_viz.png b/docs/images/pcd_color_viz.png
diff --git a/docs/info/robot-hardware.md b/docs/info/robot-hardware.md
@@ -20,12 +20,10 @@ The SMB consists of two parts: Base and payload.
 
 ## 🚜 Base
 
-TODO: talk about the drive system and components of the base
+The base consists of a motor controller, power management systems, and safety systems. It comes with a separate battery and can be turned off even when the payload is turned on.
 
 ## 📦 Payload
 
-TODO: talk about the sensors and components in the payload
-
 The payload for the SuperMegaBot incorporates sensors, an onboard computer, networking utilities, and a power system. It was developed with the goal to allow quick adaptations for various applications. 
 
 With its grooved top plate, an extra sensor or even a manipulator can easily be attached to the payload.

diff --git a/docs/installation/rss-workspace.md b/docs/installation/rss-workspace.md
@@ -40,6 +40,26 @@ For other Linux distros, the steps should be similar to Ubuntu and work for both
 ### Git
 Make sure you have installed Git on your system. ([Instructions](https://git-scm.com/book/en/v2/Getting-Started-Installing-Git))
 
+### Docker
+Make sure to install the latest [Docker](https://docs.docker.com/get-docker/).
+
+#### Configure Docker Desktop (Windows/Mac)
+
+Turn on the Network Host mode in the experiemental features section in Docker Desktop settings.
+
+<p align="center">
+  <img style="left;" src="{{ 'images/docker-desktop-host-networking.png' | absolute_url }}" width="80%" title="Docker Desktop Host Networking Option">
+</p>
+
+#### Configure Resource Allocation (Optional)
+
+If you encounter any performance issues, you can adjust the resource allocation settings as below. 
+
+<p align="center">
+  <img style="left;" src="{{ 'images/docker-desktop-resource-allocation.png' | absolute_url }}" width="80%" title="Docker Desktop Resource Allocation">
+</p>
+
+
 ### VSCode + Dev Containers Extension
 - Ensure you have a working VSCode setup and that it is up to date to avoid any issues.
 - Install the [Remote - Containers extension](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) in VSCode.

diff --git a/docs/physical-robot/setting-up/connect-to-robot.md b/docs/physical-robot/setting-up/connect-to-robot.md
@@ -79,8 +79,11 @@ ssh <user>@10.0.x.5
 
 #! Terminal becomes terminal of SSH! 
 
-# To connect the SMB to Internet 
-nmcli connection up
+# To view connections available, this shows the list of connections available to join
+nmcli connection show
+
+# To connect the SMB to Internet (you can specify the connections available from above command, e.g: sudo nmcli connection up mavt-asl-iot)
+sudo nmcli connection up
 ```
 
 **You should connect to the SMB with your given username. The Username is your team number**.

diff --git a/docs/physical-robot/tasks/object-detection.md b/docs/physical-robot/tasks/object-detection.md
@@ -29,4 +29,22 @@ To launch the detection pipeline locally, run:
 roslaunch object_detection object_detection.launch object_detection_classes="[0,1,2,10]"
 ```
 
+To view the bounding boxes and get more information about the detections use the following two commands:
+
+```bash
+rosrun rqt_image_view rqt_image_view
+```
+
+Then select the following topic to see the bounding boxes in the image: 
+
+```
+/object_detector/detections_in_image
+```
+
+To get more information like position, classification, etc. subscribe to or echo the following topic: 
+
+```bash
+rostopic echo /object_detector/detection_info
+```
+
 For more information, please check out the [Artefact Detection Tutorial](../../rss/preparations/artefact_detection_tutorial_preparations.md).
diff --git a/docs/physical-robot/tasks/opc.md b/docs/physical-robot/tasks/opc.md
@@ -55,4 +55,4 @@ Once the core software (`smb.launch`) is started on the robot, you have several
 
 1. Control the robot using the RC transmitter. The signals from the RC transmitter are read by the onboard computer and sent to the motor controller.
 2. Use a Joystick to generate control signals (twist messages). In order to control the SMB with the joystick, you should keep pressing the L1 button while driving and use the left stick to control the robot.
-3. Run the autonomous software stack as outlined in the following section.
+3. Run the autonomous software stack as outlined in the following section.
diff --git a/docs/simulation/tasks/mission-planning.md b/docs/simulation/tasks/mission-planning.md
@@ -43,6 +43,9 @@ After having recorded all your missions, stop the node with `Ctrl-C`. All your r
 
 The `mission_planner.py` executes the previously defined mission plan.
 
+Remember to start the `graph_msf` and `smb_gazebo` using the steps in [navigation](../tasks/navigation.md).
+{: .note}
+
 Start the simulation and the path planner.
 ```bash
 # launch the FAR planner

diff --git a/docs/simulation/tasks/object-detection.md b/docs/simulation/tasks/object-detection.md
@@ -32,6 +32,23 @@ To launch the detection pipeline locally, run:
 # In the host PC
 roslaunch object_detection object_detection.launch gpu:=off model:=yolov5l6
 ```
+To view the bounding boxes and get more information about the detections use the following two commands:
+
+```bash
+rosrun rqt_image_view rqt_image_view
+```
+
+Then select the following topic to see the bounding boxes in the image: 
+
+```
+/object_detector/detections_in_image
+```
+
+To get more information like position, classification, etc. subscribe to or echo the following topic: 
+
+```bash
+rostopic echo /object_detector/detection_info
+```
 
 For more information, please check out the [Artefact Detection Tutorial](../../rss/preparations/artefact_detection_tutorial_preparations.md).