Update doc/docker_image.md, README.md files

README.md

@@ -18,7 +18,7 @@ The main features of the robot are listed next:
 The main sensors available onboard the robot are listed next:
 
 * A [Velodyne PUCK](https://velodynelidar.com/products/puck/) sensor facing forward at the base for navigation.
-* A [Sick ]() lidar sensor facing backward at the base for navigation.
+* A Sick lidar sensor facing backward at the base for navigation.
 * A [Intel Realsense D435](https://www.intelrealsense.com/depth-camera-d435/) at the torso facing downward for navigation.
 * An IMU senor at the base for navigation.
 * A second [Intel Realsense D435](https://www.intelrealsense.com/depth-camera-d435/) at the head for perception.
@@ -59,7 +59,7 @@ catkin_make
 
 There exist two options to set up the IVO robot in simulation:
 
-* [ISO Image](): an ISO image to install an Ubuntu 18.04 Operating system with all the required ROS packages.
+* [ISO Image]()(TODO): an ISO image to install an Ubuntu 18.04 Operating system with all the required ROS packages.
 
 * [Docker image](./doc/docker_image.md): A docker image with all the required ROS packages, and support for NVIDIA graphic cards.
 
@@ -89,8 +89,8 @@ Check the /home/user/.pal/tiago_maps folder for all available maps.
 ## Real robot
 
 # Tutorials
-* [Modules and Behavior trees](): 
-* [3D navigation]():
+* [Modules and Behavior trees](): TO DO 
+* [3D navigation](): TO DO
 * [RL navigation](./doc/rl_navigation.md):
 * [Wrench calibration](./doc/wrenchCalib.md)
 

doc/docker_image.md

@@ -18,7 +18,8 @@ There are two docker image available:
 
 * **Original PAL image**: This image has all the necessary ROS packages to use the simulation model of the IVO robot. However, it requires privileged access to download it, and only the members of the technical support can download it. Contact them at labroboticamobil@iri.upc.edu to use this option.
 
-* **IRI image**: This image is based on the original PAL image, but it has several new packages that improve the behavior of the simulation model of the IVO robot. This docker image can be downloaded from [here](https://drive.google.com/file/d/1S1GQO53XmbnWvI-_ctGMRsyBmrmnRcR0/view?usp=sharing).
+* **IRI image**: This image is based on the original PAL image, but it has several new packages that improve the behavior of the simulation model of the IVO robot. This docker image can be downloaded from here [iri_ivo.tar](https://drive.google.com/file/d/14ugPwp8fx5n2tGK78jakvosOIx1LFNxX/view?usp=sharing) [~3.5GB]
+
 
 Once downloaded, add the IVO image to the local docker with the following command:
 ```
@@ -36,12 +37,19 @@ This last command should list the name of the IVO docker image (iri_ivo).
 
 To execute the docker image, it is better to use a script provided by PAL that handles many necessary issues related to ROS.
 
-Download the [PAL script](https://raw.githubusercontent.com/pal-robotics/pal_docker_utils/master/scripts/pal_docker.sh) and execute it with the following command
+Download the [PAL script](https://raw.githubusercontent.com/pal-robotics/pal_docker_utils/master/scripts/pal_docker.sh). It is recommended to place the PAL script in the ROS workspace that requires the simulated IVO robot.
+
 ```
-./pal_docker.sh -it iri_ivo:latest bash
+roscd; cd ..
+wget https://raw.githubusercontent.com/pal-robotics/pal_docker_utils/master/scripts/pal_docker.sh
+chmod +x pal_docker.sh
 ```
 
-It is recommended to place the PAL script in the ROS workspace that requires the simulated IVO robot.
+And execute it with the following command
+```
+roscd; cd ..
+./pal_docker.sh -it iri_ivo:latest bash
+```
 
 The docker container and host computer are "net-connected". That is, when running ROS inside the container, this ROS will be seen from host terminals.