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README.md

+# iri_helena_how_to
+
+The Helena robot is based on a Pioneer 3 AT platform
+
+In addition to the standard Pioneer sensors (sonars and bumpers), provides:
+
+ * Two laser range sensors Hokuyo UTM-30LX [hokuyo](https://www.hokuyo-aut.jp/search/single.php?serial=169)
+
+These sensors are mainly used for navigation and mapping purposes. 
+
+The upper part of the robot provides additional sensors and devices:
+
+ * Touch screen
+
+ * Speakers
+ 
+ * Pan and tilt camera
+
+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: <to_do>
+
+ * Battery management: <to_do>
+
+# 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:
+
+ 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).
+
+ * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using 
+  the helena_sim.rosinstall file available on this repository. From the src folder, execute:
+
+```
+roscd
+cd ../src
+wstool init /path/to/helena_sim.rosinstall
+```
+
+ If you want to use an existing ROS workspace:
+
+  * Merge the helena_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 /path/to/helena_sim.rosinstall
+```
+
+ * Download the simulator packages by executing the following command from the src folder:
+
+```
+roscd; cd ../src
+wstool update
+```
+ * Install the dependencies:
+ 
+```
+roscd; cd ../src
+rosdep install -i -r --from-paths .
+```
+
+ * Compile the newly downloaded packages with the following command:
+
+```
+roscd; cd ..
+catkin_make 
+```
+
+Once the setup process is complete, start the simulator with the following command:
+
+```
+roslaunch iri_helena_gazebo sim_sample.launch rviz:=true
+```
+
+This command should launch the robot with all its sensors in an empty world 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<to_do>]().
+
+# 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_do>]()
+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 actions provided by the robot.
+A complete list of all ROS interfaces is shown [here<to_do>]().
+
+## What to do next
+
+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](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md)
+ 
+ * To create a map of the simulated environment, follow the instructions in this tutorial[<to_do>]
+
+ * To navigate the robot in the new environment, follow the instructions in this tutorial[<to_do>]
+
+Some tutorials specific to the simulated robot:
+
+ * To change the simulated environment edit the [<to_do>] file and <to_do>
+
+# Developers
+
+For advanced users and developers, [here<to_do>]() there is a more in depth information about the robot and all its dependencies.

rosinstalls/helena_sim.rosinstall

+##########robots
+#####helena
+- git:
+    local-name: robots/helena/iri_helena_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_bringup.git
+- git:
+    local-name: robots/helena/iri_helena_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_description.git
+- git:
+    local-name: robots/helena/iri_helena_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_gazebo.git
+- git:
+    local-name: robots/helena/iri_helena_rosnav
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_rosnav.git
+##########platforms
+#####pioneer3
+- git:
+    local-name: platforms/pioneer3/iri_pioneer3_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/pioneer3/iri_pioneer3_bringup.git
+- git:
+    local-name: platforms/pioneer3/iri_pioneer3_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/pioneer3/iri_pioneer3_description.git
+- git:
+    local-name: platforms/iri_skid_steering_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/iri_skid_steering_gazebo.git
+##########sensors
+#####ranger2d
+- git:
+    local-name: sensors/ranger2d/iri_laser2d_gazebo
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_laser2d_gazebo.git
+- git:
+    local-name: sensors/ranger2d/iri_hokuyo_laser2d_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_bringup.git
+- git:
+    local-name: sensors/ranger2d/iri_hokuyo_laser2d_description
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_description.git
+#####navigation
+- git:
+    local-name: navigation/iri_gazebo_worlds
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_gazebo_worlds.git
+- git:
+    local-name: navigation/iri_maps
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_maps.git
+- git:
+    local-name: navigation/iri_rosnav
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_rosnav.git
+- git:
+    local-name: navigation/iri_teleop_launch
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_teleop_launch.git
+##########external
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