diff --git a/README.md b/README.md index 74b63b667080f0b8f603cfeb0c78e95609d81200..5613d5a385c20f8a4f923f20a93a85d163393cc9 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ In this workshop we will present the basic concepts and tools to use the model c Be carefull when pulling out the model car from the box. To do so, first remove all the mobile items covering it, and then put both hands on both sides of the platform and pull upwards. -See the document [Hardware Description](https://drive.google.com/file/d/1Oa_7VohhWLnLy7CKg7BqL18wdta3doqX/view?usp=sharing) for more information on the main elements. +See the document [Hardware Description](https://drive.google.com/file/d/1Oa_7VohhWLnLy7CKg7BqL18wdta3doqX/view?usp=sharing) for more information on the main elements. All the elements that should be included in the box are listed here and shown in the next image. 1. Model car 2. RC transmitter, coming with 4 AA batteries. @@ -28,7 +28,7 @@ See the document [Hardware Description](https://drive.google.com/file/d/1Oa_7Voh 7. Powertrain battery (red) 8. Measurement units battery (white) 9. Measurement units battery: connector adapter -10. Elevation platform +10. Rising platform 11. Power transformer 12. Power transformer cable 13. Previous camera support: metal piece originally holding the front camera, replaced with modified printed piece. @@ -37,28 +37,30 @@ See the document [Hardware Description](https://drive.google.com/file/d/1Oa_7Voh ## 2. Setup -See [iri_model_car_how_to/doc/installation.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/installation.md) for instructions on how to set up the enviroment on the car and development computers. +See the [installation page](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/installation.md) for instructions on how to set up the enviroment on the car and development computers. ## 3. Power on and communication -See [iri_model_car_how_to/doc/real_model_car.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md) for instructions on how to use the batteries and power on the model car. Follow the sections: +See the [real model car page](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md) for instructions on how to use the batteries and power on the model car. Follow the sections: -- Batteries. -- Power up. The first time it's recommended tu use a display (and mouse and keyboard), to be able to easily setup and connect to your WiFi network, for example. To do so, before powering up the computer, connect the display HDMI cable to the GPU HDMI connector. If you do it when the computer has already started, the display may not be recognized. -- Connect. Look at [iri_model_car_how_to/doc/communication.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/communication.md) for indications on how to solve the communication between your external computers and the model car computer. -- Bringup. +- [Batteries](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md#batteries). +- [Power up](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md#power-up). The first time it's recommended tu use a display (and mouse and keyboard), to be able to easily setup and connect to your WiFi network, for example. To do so, before powering up the computer, connect the display HDMI cable to the GPU HDMI connector. If you do it when the computer has already started, the display may not be recognized. +- [Connect](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/communication.md). Follow the instructions to set the communication between your external computers and the model car computer. +- [Bringup](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md#bring-up). ## 4. Basic operation -Follow [iri_model_car_how_to/doc/operation.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/operation.md) for instructions on how to inspect topics and visualize sensor data, as you did in the simulation workshop. +To check everything is working properly repeat the instructions in the [basic operation tutorial](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/operation.md). ## 5. Calibration -See [iri_model_car_how_to/doc/calibration.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/calibration.md) for a recopilation of the different calibration procedures. +For the real model car, several elements must be calibrated before start working with it. Follow the instructions in the [calibration tutorial](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/calibration.md) to complete all the calibration procedures. + +Keep in mind that the instructions in this tutorial are generic and use the default *model_car* namespace for all parameters and configuration files. However, it is recommended to use the equivalent launch and configuration files in the [iri_adc_launch](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_launch) ROS package, and modify the necessary parameters in those files. ## 6. Launch examples -Follow these tutorials, as you did in the simulation workshop, taking into account the limitations of space you may have. +Repeat the followinf tutorials taking into account the limitations of space you may have. - [Teleoperation](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/teleoperation.md) - [Mapping](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/mapping.md) @@ -72,6 +74,6 @@ Be **very careful** when controlling the model car with the RC transmitter, not ## 8. Power off -See [iri_model_car_how_to/doc/real_model_car.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md) last section, Power down. +Follow the instructions in the power down section pf the [real model car page](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md#power-down) to safely shutdown the model car. -If needed, charge the batteries. See Battery section in [iri_model_car_how_to/doc/real_model_car.md](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md) +If needed, charge the batteries. See Battery section in [real model car page](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to/-/blob/master/doc/real_model_car.md#batteries).