diff --git a/README.md b/README.md
index 34ad815f0245ad90caab03d97ae17a53b3f9041b..ff0157c14e61b1c967665f264d03e2ee60ba69b1 100644
--- a/README.md
+++ b/README.md
@@ -31,10 +31,6 @@ and are placed on top of a custom pan&tilt platform.
A fully featured gazebo model is also provided to test the robot in simulation.
-# Robot description
-
-
-
# Procedures
Here are the basic precedures to use the robot. Please follow them carefully
@@ -44,50 +40,6 @@ whenever you need to use the robot.
* Battery management:
-# Dependencies
-
-The required common dependencies for both the simulated and the real Ana robot
-are listed below:
-
- * [iri_ana_description](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description)
-
-In order to use the real robot, the following dependencies are also required:
-
- * [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
-
-To build the workspace, make sure to follow the installation and setup
-instructions from each of the packages above and their respective dependencies.
-
-In order to use the robot in simulation, the following dependencies are also
-required:
-
- * [iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo)
-
-To use the simulator, make sure to follow the installation and setup instructions
-from each of the packages above and their respective dependencies.
-
-# Install
-
-All these ROS packages, and their dependencies, can be manually added to the
-ROS workspace. A simpler option is to use one of the rosinstall files provided
-with this repository:
-
- * real_ana.rosinstall: all the necessary packages to set up the real robot.
-
- * sim_ana.rosinstall: all the necessary packages to use the robot in simulation.
-
-See the [wstool](http://wiki.ros.org/wstool) documentation for more details on
-how to initialize the workspace and merge a rosinstall file with it.
-
-# How to use the real robot
-
-To set up and use the real robot, follow the instructions in the
-[iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
-ROS package.
-
-Also, carefully follow the procedures listed above to correctly handle the
-robot.
-
# How to use the simulated robot
A Gazebo model for the Ana platform and all its sensors is provided to speed up the testing
@@ -101,20 +53,22 @@ To set up the simulator, please follow the next steps:
sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins
```
- * If you want to use a new ROS workspace:
+ If you want to use a new ROS workspace:
- * create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+ * Create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
- * Copy the ana_sim.rosinstall file to the src folder of the new workspace.
+ * Copy the ana_sim.rosinstall file to the src folder of the new workspace.
- * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using
+ * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using
the ana_sim.rosinstall file available on this repository. From the src folder, execute:
```
+roscd
+cd ../src
wstool init ana_sim.rosinstall
```
- * If you want to use an existing ROS workspace:
+ If you want to use an existing ROS workspace:
* Copy the ana_sim.rosinstall file to the src folder of the existing workspace.
@@ -122,6 +76,8 @@ wstool init ana_sim.rosinstall
in this [tutorial](http://wiki.ros.org/wstool). From the src folder, execute:
```
+roscd
+cd ../src
wstool merge ana_sim.rosinstall
```
@@ -134,7 +90,8 @@ wstool update
* compile the newly downloaded packages with the following command:
```
-catkin_make --only-pkg-with-deps iri_ana_gazebo
+cd ..
+catkin_make
```
Once the setup process is complet, start the simulator with the following command
@@ -147,14 +104,43 @@ This command should launch the robot with all its sensors in an empty environmen
sensor data. The name and namespace of all topics, services and actions are exactly the same as in the real robot, although
not all of them are available.
-A complete list of all ROS interfaces is shown here:
+A complete list of all ROS interfaces is shown [here]().
+
+# How to use the real robot
+
+The robot's on-board computer has all the necessary ROS nodes to operate the robot
+and it is fully configured.
+
+IMPORTANT: when using the real robot, make sure you follow all the procedures listed [here]()
+to start, operate, shut down and handle the batteries.
+
+There are two ways to connect to the robot using an external computer:
+
+ * Wireless: the robot creates a hot spot
+
+ * Cable:
+
+Once connected to the same network, configure the external computer following the instructions
+in this [tutorial](http://wiki.ros.org/ROS/Tutorials/MultipleMachines).
+
+At this point, you should have acces to all the topic, services and action provided by the robot.
+A complete list of all ROS interfaces is shown [here]().
## What to do next
-To change the simulated environment edit the [] file and
+All the tutorial included in this section can be used both in simulation or with the real robot.
+
+ * To teleoprate the robot, follow the instructions in this tutorial[]
+
+ * To create a map of the simulated environment, follow the instructions in this tutorial[]
+
+ * To navigate the robot in the new environment, follow the instructions in this tutorial[]
+
+Some tutorials specific to the simulated robot:
-To teleoprate the robot, follow the instructions in this tutorial[]
+ * To change the simulated environment edit the [] file and
-To create a map of the simulated environment, follow the instructions in this tutorial[]
+# Developers
-To navigate the robot in the new environment, follow the instructions in this tutorial[]
+For advanced users and developers, [here]() there is amore in depth information about the Ana robot
+and all its dependencies.
diff --git a/procedures/battery_management/battery_management.aux b/procedures/battery_management/battery_management.aux
deleted file mode 100644
index 3dc96fe308b70230409930e171aa2a2e24a05cdc..0000000000000000000000000000000000000000
--- a/procedures/battery_management/battery_management.aux
+++ /dev/null
@@ -1,25 +0,0 @@
-\relax
-\select@language{english}
-\@writefile{toc}{\select@language{english}}
-\@writefile{lof}{\select@language{english}}
-\@writefile{lot}{\select@language{english}}
-\@writefile{toc}{\contentsline {section}{\numberline {1}Description}{1}}
-\@writefile{toc}{\contentsline {section}{\numberline {2}Preliminary considerations}{1}}
-\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Image of the payload battery used for the Ana and Helena robots.}}{1}}
-\newlabel{img_payload_bat}{{1}{1}}
-\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Image of the motors battery used for the Ana and Helena robots.}}{2}}
-\newlabel{img_motors_bat}{{2}{2}}
-\@writefile{lot}{\contentsline {table}{\numberline {1}{\ignorespaces Specifications of both the motors and payload batteries.}}{2}}
-\newlabel{tab_specs}{{1}{2}}
-\@writefile{toc}{\contentsline {section}{\numberline {3}Change batteries}{2}}
-\newlabel{proc_change_bat}{{3}{2}}
-\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Battery compartment with the motor battery on the left and the payload battery on the right}}{3}}
-\newlabel{img_bat_comp}{{3}{3}}
-\@writefile{toc}{\contentsline {section}{\numberline {4}Charge batteries inside the robot}{3}}
-\newlabel{proc_charge_inside}{{4}{3}}
-\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Front panel of the robot with the payload and motors charger connectors and fuses.}}{4}}
-\newlabel{img_front_panel}{{4}{4}}
-\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces Output connectors of the chargers: a male connector on the left to charge the batteries inside the robot and a female connector on the right to charge them outside the robot.}}{5}}
-\newlabel{img_connectors}{{5}{5}}
-\@writefile{toc}{\contentsline {section}{\numberline {5}Charge batteries outside the robot}{5}}
-\newlabel{proc_charge_outside}{{5}{5}}
diff --git a/procedures/battery_management/battery_management.log b/procedures/battery_management/battery_management.log
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