Add temporary procedure images. Add ROS package files. Add README

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(iri_dabo_how_to)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES iri_dabo_how_to
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/iri_dabo_how_to.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/iri_dabo_how_to_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_dabo_how_to.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

+# iri_dabo_how_to
+
+The Dabo robot, along with his sister Tibi, are mobile, urban, service and social robots, based on a Segway RMP 200 platform, equipped with Hokuyo UTM-30lx lidar and Bumblebee2 stereo camera,  able to move their arms and head with 2 degrees of freedom shoulders and 3 dof neck.
+
+A fully featured gazebo model is also provided to test the robot in simulation. 
+
+# 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](url-to-pdf-artifact)
+
+ * [Battery management](url-to-pdf-artifact)
+
+# How to use the simulated robot
+
+A Gazebo model for the platform and all its sensors is provided to speed up the testing 
+process. 
+
+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
+```
+
+ 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 dabo_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 dabo_sim.rosinstall file available on this repository. From the src folder, execute:
+
+```
+roscd
+cd ../src
+wstool init dabo_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 dabo_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:
+
+```
+roscd
+cd ../src
+wstool merge dabo_sim.rosinstall
+```
+
+ * Download the simulator packages by executing the following command from the src folder:
+
+```
+wstool update
+```
+
+ * Compile the newly downloaded packages with the following command:
+
+```
+cd ..
+catkin_make 
+```
+
+Once the setup process is complete, start the simulator with the following command:
+
+```
+roslaunch iri_dabo_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
+
+
+
+## What to do next
+
+All the tutorials included in this section can be used both in simulation or with the real robot. 
+
+ * [Teleoperation]()
+ 
+ * [Create a navigation 2D map]()
+
+ * [Navigation in a 2D map]()
+
+
+## For developers
+
+<details><summary>click here</summary>
+<p>
+
+</p>
+</details>
\ No newline at end of file

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_dabo_how_to</name>
+  <version>0.0.0</version>
+  <description>Documentation on how to set up and use the robot</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">IRI_labrobotica</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_dabo_how_to</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

procedures/startup_operation_shutdown/startup_operation_shutdown.aux

+\relax 
+\providecommand\hyper@newdestlabel[2]{}
+\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
+\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
+\global\let\oldcontentsline\contentsline
+\gdef\contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
+\global\let\oldnewlabel\newlabel
+\gdef\newlabel#1#2{\newlabelxx{#1}#2}
+\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
+\AtEndDocument{\ifx\hyper@anchor\@undefined
+\let\contentsline\oldcontentsline
+\let\newlabel\oldnewlabel
+\fi}
+\fi}
+\global\let\hyper@last\relax 
+\gdef\HyperFirstAtBeginDocument#1{#1}
+\providecommand\HyField@AuxAddToFields[1]{}
+\providecommand\HyField@AuxAddToCoFields[2]{}
+\select@language{english}
+\@writefile{toc}{\select@language{english}}
+\@writefile{lof}{\select@language{english}}
+\@writefile{lot}{\select@language{english}}
+\citation{tibidabo}
+\citation{safety-sheets}
+\@writefile{toc}{\contentsline {section}{\numberline {1}Description}{2}{section.1}}
+\@writefile{toc}{\contentsline {section}{\numberline {2}Preliminary considerations}{2}{section.2}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Safety}{2}{subsection.2.1}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Robot description}{2}{subsection.2.2}}
+\citation{battery-procedure}
+\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Robot elements\relax }}{3}{figure.caption.3}}
+\providecommand*\caption@xref[2]{\@setref\relax\@undefined{#1}}
+\newlabel{fig:robot-elements}{{1}{3}{Robot elements\relax }{figure.caption.3}{}}
+\newlabel{startup}{{3}{3}{Startup procedure}{section.3}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {3} Startup procedure}{3}{section.3}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.1}Power on}{3}{subsection.3.1}}
+\newlabel{enable-security}{{{{2.}}}{3}{Power on}{Item.36}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Front component power switch panel\relax }}{4}{figure.caption.4}}
+\newlabel{fig:component-panel-front}{{2}{4}{Front component power switch panel\relax }{figure.caption.4}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Rear component power switch panel\relax }}{5}{figure.caption.5}}
+\newlabel{fig:component-panel-rear}{{3}{5}{Rear component power switch panel\relax }{figure.caption.5}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Security system\relax }}{5}{figure.caption.6}}
+\newlabel{fig:security-system}{{4}{5}{Security system\relax }{figure.caption.6}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces Segway panel\relax }}{6}{figure.caption.7}}
+\newlabel{fig:segway-panel}{{5}{6}{Segway panel\relax }{figure.caption.7}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {6}{\ignorespaces Power switch\relax }}{6}{figure.caption.8}}
+\newlabel{fig:power-switch}{{6}{6}{Power switch\relax }{figure.caption.8}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.2}Attach robot covers}{6}{subsection.3.2}}
+\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces Arm calibration movements\relax }}{7}{figure.caption.10}}
+\newlabel{fig:arm-calibration}{{7}{7}{Arm calibration movements\relax }{figure.caption.10}{}}
+\@writefile{lof}{\contentsline {figure}{\numberline {8}{\ignorespaces Caster wheels\relax }}{7}{figure.caption.13}}
+\newlabel{fig:caster-wheels}{{8}{7}{Caster wheels\relax }{figure.caption.13}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {3.3}Remote access}{7}{subsection.3.3}}
+\@writefile{lof}{\contentsline {figure}{\numberline {9}{\ignorespaces Robot covers\relax }}{8}{figure.caption.17}}
+\newlabel{fig:robot-covers}{{9}{8}{Robot covers\relax }{figure.caption.17}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {4}Operation procedure}{8}{section.4}}
+\newlabel{operation}{{4}{8}{Operation procedure}{section.4}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {4.1}Launch software}{8}{subsection.4.1}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {4.2}Running}{8}{subsection.4.2}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {4.3}Security}{8}{subsection.4.3}}
+\citation{battery-procedure}
+\@writefile{toc}{\contentsline {subsection}{\numberline {4.4}Battery monitoring}{9}{subsection.4.4}}
+\@writefile{toc}{\contentsline {section}{\numberline {5}Shutdown procedure}{9}{section.5}}
+\newlabel{shutdown}{{5}{9}{Shutdown procedure}{section.5}{}}
+\newlabel{shutdown-software}{{{{1.}}}{9}{Shutdown procedure}{Item.75}{}}
+\newlabel{shutdown-segway}{{{{2.}}}{9}{Shutdown procedure}{Item.76}{}}
+\bibstyle{plain}
+\bibdata{references}

procedures/startup_operation_shutdown/startup_operation_shutdown.lof

+\select@language {english}
+\contentsline {figure}{\numberline {1}{\ignorespaces Robot elements\relax }}{3}{figure.caption.3}
+\contentsline {figure}{\numberline {2}{\ignorespaces Front component power switch panel\relax }}{4}{figure.caption.4}
+\contentsline {figure}{\numberline {3}{\ignorespaces Rear component power switch panel\relax }}{5}{figure.caption.5}
+\contentsline {figure}{\numberline {4}{\ignorespaces Security system\relax }}{5}{figure.caption.6}
+\contentsline {figure}{\numberline {5}{\ignorespaces Segway panel\relax }}{6}{figure.caption.7}
+\contentsline {figure}{\numberline {6}{\ignorespaces Power switch\relax }}{6}{figure.caption.8}
+\contentsline {figure}{\numberline {7}{\ignorespaces Arm calibration movements\relax }}{7}{figure.caption.10}
+\contentsline {figure}{\numberline {8}{\ignorespaces Caster wheels\relax }}{7}{figure.caption.13}
+\contentsline {figure}{\numberline {9}{\ignorespaces Robot covers\relax }}{8}{figure.caption.17}

procedures/startup_operation_shutdown/startup_operation_shutdown.out

+\BOOKMARK [1][-]{section.1}{Description}{}% 1
+\BOOKMARK [1][-]{section.2}{Preliminary considerations}{}% 2
+\BOOKMARK [2][-]{subsection.2.1}{Safety}{section.2}% 3
+\BOOKMARK [2][-]{subsection.2.2}{Robot description}{section.2}% 4
+\BOOKMARK [1][-]{section.3}{ Startup procedure}{}% 5
+\BOOKMARK [2][-]{subsection.3.1}{Power on}{section.3}% 6
+\BOOKMARK [2][-]{subsection.3.2}{Attach robot covers}{section.3}% 7
+\BOOKMARK [2][-]{subsection.3.3}{Remote access}{section.3}% 8
+\BOOKMARK [1][-]{section.4}{Operation procedure}{}% 9
+\BOOKMARK [2][-]{subsection.4.1}{Launch software}{section.4}% 10
+\BOOKMARK [2][-]{subsection.4.2}{Running}{section.4}% 11
+\BOOKMARK [2][-]{subsection.4.3}{Security}{section.4}% 12
+\BOOKMARK [2][-]{subsection.4.4}{Battery monitoring}{section.4}% 13
+\BOOKMARK [1][-]{section.5}{Shutdown procedure}{}% 14

procedures/startup_operation_shutdown/startup_operation_shutdown.tex

@@ -90,7 +90,7 @@ Tibi and Dabo are custom robots designed at IRI. See Fig.\ref{fig:robot-elements
 
 \begin{figure}[ht!]
   \centering
-  \includegraphics[width=.8\linewidth]{example-image}
+  \includegraphics[width=.8\linewidth]{robot-elements.png}
   \caption{Robot elements}
   \label{fig:robot-elements}
 \end{figure}
@@ -134,14 +134,14 @@ To choose which components are powered on or off, front and rear power switch pa
 
 \begin{figure}[ht]
     \centering
-    \includegraphics[width=.8\linewidth]{example-image}
+    \includegraphics[width=.8\linewidth]{front-panel.png}
     \caption{Front component power switch panel}
     \label{fig:component-panel-front}
 \end{figure}
 
 \begin{figure}[ht]
     \centering
-    \includegraphics[width=.8\linewidth]{example-image}
+    \includegraphics[width=.8\linewidth]{rear-panel.png}
     \caption{Rear component power switch panel}
     \label{fig:component-panel-rear}
 \end{figure}
@@ -150,7 +150,7 @@ The emergency stop system consists in an onboard receiver and a remote emitter.
 
 \begin{figure}[ht]
     \centering
-    \includegraphics[width=.8\linewidth]{example-image}
+    \includegraphics[width=.8\linewidth]{security-system.png}
     \caption{Security system}
     \label{fig:security-system}
 \end{figure}
@@ -159,7 +159,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
 		
     \begin{figure}[ht]
         \centering
-        \includegraphics[width=.8\linewidth]{example-image}
+        \includegraphics[width=.8\linewidth]{segway-panel.png}
         \caption{Segway panel}
         \label{fig:segway-panel}
     \end{figure}
@@ -177,7 +177,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
 
     \begin{figure}[ht]
         \centering
-        \includegraphics[width=.8\linewidth]{example-image}
+        \includegraphics[width=.8\linewidth]{power-button.png}
         \caption{Power switch}
         \label{fig:power-switch}
     \end{figure}	
@@ -198,7 +198,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
 	
     \begin{figure}[ht]
         \centering
-        \includegraphics[width=.8\linewidth]{example-image}
+        \includegraphics[width=.8\linewidth]{arm-calibration.png}
         \caption{Arm calibration movements}
         \label{fig:arm-calibration}
     \end{figure}
@@ -221,7 +221,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
 			
             \begin{figure}[ht]
                 \centering
-                \includegraphics[width=.8\linewidth]{example-image}
+                \includegraphics[width=.8\linewidth]{caster-wheels.png}
                 \caption{Caster wheels}
                 \label{fig:caster-wheels}
             \end{figure}
@@ -249,7 +249,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
 
     \begin{figure}[ht]
         \centering
-        \includegraphics[width=.8\linewidth]{example-image}
+        \includegraphics[width=.8\linewidth]{robot-covers.png}
         \caption{Robot covers}
         \label{fig:robot-covers}
     \end{figure}

procedures/startup_operation_shutdown/startup_operation_shutdown.toc

+\select@language {english}
+\contentsline {section}{\numberline {1}Description}{2}{section.1}
+\contentsline {section}{\numberline {2}Preliminary considerations}{2}{section.2}
+\contentsline {subsection}{\numberline {2.1}Safety}{2}{subsection.2.1}
+\contentsline {subsection}{\numberline {2.2}Robot description}{2}{subsection.2.2}
+\contentsline {section}{\numberline {3} Startup procedure}{3}{section.3}
+\contentsline {subsection}{\numberline {3.1}Power on}{3}{subsection.3.1}
+\contentsline {subsection}{\numberline {3.2}Attach robot covers}{6}{subsection.3.2}
+\contentsline {subsection}{\numberline {3.3}Remote access}{7}{subsection.3.3}
+\contentsline {section}{\numberline {4}Operation procedure}{8}{section.4}
+\contentsline {subsection}{\numberline {4.1}Launch software}{8}{subsection.4.1}
+\contentsline {subsection}{\numberline {4.2}Running}{8}{subsection.4.2}
+\contentsline {subsection}{\numberline {4.3}Security}{8}{subsection.4.3}
+\contentsline {subsection}{\numberline {4.4}Battery monitoring}{9}{subsection.4.4}
+\contentsline {section}{\numberline {5}Shutdown procedure}{9}{section.5}