diff --git a/README.md b/README.md
index 23352dc98406cd077dbf03206c8e55b29479bc98..1f5347ef5d6bb4b95bab912ccd520bf72e1c9be6 100644
--- a/README.md
+++ b/README.md
@@ -1,138 +1,106 @@
# iri_ana_how_to
-The Ana robot is based on a Pioneer 3 AT platform which has been updated with:
+## Description
- * A [fanless mini PC i7 computer](http://www.fit-pc.com/web/products/ipc3/)
+<details>
+ <summary>Show more</summary>
+
+ The Ana robot is based on a Pioneer 3 AT platform which has been updated with:
+
+ * A [fanless mini PC i7 computer](http://www.fit-pc.com/web/products/ipc3/)
- * Custom 250Wh motor battery from AMOPACK with monitoring electronics.
+ * Custom 250Wh motor battery from AMOPACK with monitoring electronics.
- * Custom 500Wh payload battery from AMOPACK with monitoring electronics.
+ * Custom 500Wh payload battery from AMOPACK with monitoring electronics.
-The expected autonomy of the robot is around 5 hours, and it can operate on its
- own with the embedded computer.
+ The expected autonomy of the robot is around 5 hours, and it can operate on its
+ own with the embedded computer.
-In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot
-provides:
+ In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot
+ provides:
- * A low cost IMU sensor [Adafruit BNO055](https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor)
+ * A low cost IMU sensor [Adafruit BNO055](https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor)
- * A 3d Lidar [Velodyne VLP-16 PUCK](https://velodynelidar.com/vlp-16.html)
+ * A 3d Lidar [Velodyne VLP-16 PUCK](https://velodynelidar.com/vlp-16.html)
- * A depth camera [Intel RealSense D435](https://realsense.intel.com/stereo/)
+ * A depth camera [Intel RealSense D435](https://realsense.intel.com/stereo/)
-All theses sensors are mainly used for navigation and mapping purposes.
+ All theses sensors are mainly used for navigation and mapping purposes.
-The upper part of the robot provides additional sensors and computers to detect
-and track people in urban environments. These sensors include:
+ The upper part of the robot provides additional sensors and computers to detect
+ and track people in urban environments. These sensors include:
- *
+ *
-and are placed on top of a custom pan&tilt platform.
+ 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.
+ A fully featured gazebo model is also provided to test the robot in simulation.
+</details>
-# Procedures
+## Procedures
Here are the basic precedures to use the robot. Please follow them carefully
whenever you need to use the robot.
- * Startup, operation and shutdown
-
- * [Battery management](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/-/jobs/artifacts/latex/file/procedures/battery_management/battery_management.pdf?job=latex_to_pdf)
-
-# How to use the simulated robot
+ * Startup, operation and shutdown: _pending to generate pdf_
-A Gazebo model for the Ana platform and all its sensors is provided to speed up the testing
-process.
+ * [Battery management](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/-/jobs/artifacts/latex/file/procedures/battery_management/battery_management.pdf?job=latex_to_pdf): _pending fix pdf link_
-To set up the simulator, please follow the next steps:
-
-Install the following system dependencies:
-
-```
-sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins
-```
+## Installation
-Install the iri_core dependencies following the instructions in the [iri_ros_how_to](https://gitlab.iri.upc.edu/labrobotica/ros/iri_ros_how_to) repository.
+From an existing workspace ([tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace))
+
+Merge your workspace with the following rosinstall files following the steps in this [tutorial](http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files).
+ - Simulation
+ - [iri_core.rosinstall](https://gitlab.iri.upc.edu/labrobotica/ros/iri_ros_how_to/-/blob/master/rosinstall/iri_core.rosinstall)
+ - [ana_sim.rosinstall](./rosinstalls/ana_sim.rosinstall)
+ - Real robot
+ - [iri_core.rosinstall](https://gitlab.iri.upc.edu/labrobotica/ros/iri_ros_how_to/-/blob/master/rosinstall/iri_core.rosinstall)
+ - [ana.rosinstall](./rosinstalls/ana.rosinstall)
-Install all IRI ros dependencies:
-
- 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).
-
- * 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
- 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:
-
- * Copy the ana_sim.rosinstall file to the src folder of the existing workspace.
-
- * Merge the ana_sim.rosinstall file available on this repository with the existing rosinstall file following the steps
- in this [tutorial](http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files). From the src folder, execute:
+Install dependencies
```
roscd
cd ../src
-wstool merge ana_sim.rosinstall
+rosdep install -r -i --from-paths .
```
-Download the simulator packages by executing the following command from the src folder:
-
-```
-wstool update
-```
+##TODO check if these are defined:
+#sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins
-Compile the newly downloaded packages with the following command:
+Compile the workspace
```
+roscd
cd ..
-catkin_make
+catkin_make
```
-Once the setup process is complete, start the simulator with the following command:
+## Usage
+
+### Simulation
```
roslaunch iri_ana_gazebo sim_sample.launch
```
-This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all
-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]().
-
-# How to use the real robot
+Default Gazebo world is `empty.world`.
-The robot's on-board computer has all the necessary ROS nodes to operate the robot
-and it is fully configured.
+You can choose a different world specifying the _world_name_ argument with `world_name:=brl`.
-IMPORTANT: when using the real robot, make sure you follow all the procedures listed [here]()
-to start, operate, shut down and handle the batteries.
+See our available worlds in `iri_gazebo_worlds/worlds/*.world`
-There are two ways to connect to the robot using an external computer:
+### Real robot
- * Wireless: the robot creates a hot spot
+The robot's on-board computer has all the necessary ROS nodes to operate the robot and it is fully configured.
- * Cable:
+IMPORTANT: when using the real robot, make sure you follow all the procedures listed above in this file.
-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 actions provided by the robot.
-A complete list of all ROS interfaces is shown [here]().
+### What to do next
-## What to do next
-
-All the tutorial included in this section can be used both in simulation or with the real robot.
+All the tutorials 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](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md)
@@ -140,11 +108,6 @@ All the tutorial included in this section can be used both in simulation or with
* To navigate the robot in the new environment, follow the instructions in this tutorial[]
-Some tutorials specific to the simulated robot:
-
- * To change the simulated environment edit the [] file and
-
# Developers
-For advanced users and developers, [here]() there is a more in depth information about the Ana robot
-and all its dependencies.
+For advanced users and developers, [here]() there is a more in depth information about the robot and its dependencies.
diff --git a/rosinstalls/ana.rosinstall b/rosinstalls/ana.rosinstall
index d2e508e5da5eb856bd7a3434d4be2149d71a1ad2..d2ca1c3bba8f952fb5092278e734c177621c2c1c 100644
--- a/rosinstalls/ana.rosinstall
+++ b/rosinstalls/ana.rosinstall
@@ -1,22 +1,5 @@
###ana_sim.rosinstall
##################################
-###iri_core/
-- git:
- local-name: iri_core/iri_action_server
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_action_server.git
-- git:
- local-name: iri_core/iri_base_algorithm
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_algorithm.git
- version: kinetic_migration
-- git:
- local-name: iri_core/iri_base_driver
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_driver.git
- version: kinetic_migration
-- git:
- local-name: iri_core/iri_ros_tools
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_ros_tools.git
- version: kinetic_migration
-##################################
###navigation/
- git:
local-name: navigation/iri_gazebo_worlds
@@ -96,4 +79,4 @@
- git:
local-name: external/realsense
uri: https://github.com/intel-ros/realsense.git
-##################################
\ No newline at end of file
+##################################
diff --git a/rosinstalls/ana_sim.rosinstall b/rosinstalls/ana_sim.rosinstall
index c4dd6e0b1853214753bc7af78c20232d995b3288..651846420d41e0e4ac9d3d6073748016dacf74c7 100644
--- a/rosinstalls/ana_sim.rosinstall
+++ b/rosinstalls/ana_sim.rosinstall
@@ -1,22 +1,5 @@
###ana_sim.rosinstall
##################################
-###iri_core/
-- git:
- local-name: iri_core/iri_action_server
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_action_server.git
-- git:
- local-name: iri_core/iri_base_algorithm
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_algorithm.git
- version: kinetic_migration
-- git:
- local-name: iri_core/iri_base_driver
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_driver.git
- version: kinetic_migration
-- git:
- local-name: iri_core/iri_ros_tools
- uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_ros_tools.git
- version: kinetic_migration
-##################################
###navigation/
- git:
local-name: navigation/iri_gazebo_worlds
@@ -87,4 +70,4 @@
- git:
local-name: external/realsense
uri: https://github.com/intel-ros/realsense.git
-##################################
\ No newline at end of file
+##################################