Update README.md, doc/docker_image.md, doc/wrenchCalib.md files

README.md

@@ -2,9 +2,9 @@
 
 ## Description
 
-* Philosophy TO_DO
+* How to use IVO robot at IRI both in simulation and real.
 
 ## Tutorials
-
-* [Wrench calibration](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ivo/ivo_how_to/-/blob/master/doc/wrenchCalib.md)
+* [Docker image](./doc/docker_image.md): how to download and use an Ivo robot Docker image
+* [Wrench calibration](./doc/wrenchCalib.md)
 

doc/docker_image.md

+# IVO docker image
+
+## Installation
+
+Follow steps in [https://github.com/pal-robotics/pal_docker_utils](https://github.com/pal-robotics/pal_docker_utils)
+1. Install docker
+2. Install nvidia-docker2
+3. Download pal_docker.sh script
+
+
+## Get docker image
+
+- Option 1. Get image from PAL gitlab. Attention: needs PAL gitlab granted access, currently given to users: shernand, alopez, fherrero. 
+    - Follow instructions in [https://gitlab.com/pal-robotics/iri-vis/dockers](https://gitlab.com/pal-robotics/iri-vis/dockers)
+    - To create the ivo.tar file used in option 2, run: `docker save -o ~/ivo.tar <img name>`
+- Option 2. Download image from IRI Google drive.
+    1. Download [ivo.tar](https://drive.google.com/file/d/13DVzbOH5T4q-xsjHq2YHs29ico06BmTi/view?usp=sharing) image [3.7GB]
+    2. Load it in your Docker with: `docker load -i /path/to/ivo.tar`
+    3. Check its presence with: `docker images`
+    4. You can name/rename it with: `docker image tag <image ID> <new-image-name>:latest`
+
+## Run container
+
+1. Check your docker image name or id with: `docker images`
+2. Go to downloaded pal_docker.sh script location and run: 
+```bash
+./pal_docker.sh -it <img-name-or-id> bash
+```
+3. Notes:
+    - Container and host are "net-connected". For example, when running ROS inside the container, ROS will be seen from host terminals.
+    - The `exchange` shared folder is created in host `$HOME/exchange` and container `/home/user/exchange` paths. But it needs sudo permissions.
+    - Alternative command tu run container with chosen shared folder is:
+    ```bash
+    ./pal_docker.sh -it --mount src="/host/path/to/folder",target="/container/path/to/folder",type=bind <image_name> bash
+    ```

doc/wrenchCalib.md

@@ -6,13 +6,13 @@
 
 1. To launch the node that will compute the offsets and move the arm during the calibration run the following ({arm} = {left,right}):
 
-'roslaunch pal_ft_automatic_calibration_tiago tiago_wrist_{arm}_ft_calib.launch'
+`roslaunch pal_ft_automatic_calibration_tiago tiago_wrist_{arm}_ft_calib.launch`
 
-2. To trigger the calibration run: 'rostopic pub /wrist_{arm}_ft/calibrate/goal' **double tab**
+2. To trigger the calibration run: `rostopic pub /wrist_{arm}_ft/calibrate/goal` **double Tab**, **Enter**
 3. This procedure should be repeated every 4/5 hours of continued use accoding to the handbook and each time the robot is rebooted.
 
 ## Use of wrench sensor without offsets
 
 1. Once the calibration is executed, offset data is saved into a config file, so it isn't necessary to run it every time.
-2. To automatically publish wrench measurements without offset, we should run: 'roslaunch pal_ft_automatic_calibration_tiago tiago_wrist_{arm}_ft_pub_no_offset.launch'
-3. To use the measurement we should subcribe to the topic: '/wrist_{arm}_ft/corrected'
+2. To automatically publish wrench measurements without offset, we should run: `roslaunch pal_ft_automatic_calibration_tiago tiago_wrist_{arm}_ft_pub_no_offset.launch`
+3. To use the measurement we should subcribe to the topic: `/wrist_{arm}_ft/corrected`