Turtlebot3.md

@@ -4,7 +4,7 @@ The TurtleBot3 version adopts ROBOTIS smart actuator DYNAMIXEL for driving. Turt
 
 [[_TOC_]]
 
-# Working with the TurtleBot3 burger
+# Working with the TurtleBot3 Burger
 
 The TurtleBot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 DYNAMIXEL servomotors (one for each wheel), 1 OpenSource control card (OpenCR ARM Cortex-M7), 1 Raspberry Pi3, sensors for the navigation with 360° LiDAR.
 
@@ -27,7 +27,9 @@ The TurtleBot3 burger is the smallest turtlebot3 mobile robot. It is composed of
 
 ## Getting started with ROS 1
 
-### Configuring the Remote PC
+### Configuring 
+
++ Configuring the Remote PC
 
 Add the following lines in the .bashrc of your Remote PC to define the necessary environment variables for runnning ROS: 
 
@@ -65,31 +67,37 @@ Reinitialize the environment of your Burger:
 ```
 (Burger)> source ~/.bashrc
 ```
+
+### Launching ROS 
+
 + Launching roscore
 ```
 (Remote PC)>roscore
 ```
-+ Start the burger
++ Starting the burger
 ```
 (Remote PC)>ssh pi@{IP_ADDRESS_OF_BURGER}
 (Burger)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch  multi_robot_name:="myspace" set_lidar_frame_id:="myspace/base_scan"
 (Remote PC)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=myspace
 ```
-+ Use simulated burger with gazebo
+
++ Using a simulated burger with _gazebo_
 ```
 (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
 (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
 ```
 (if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file)
 <img src="./images/turtlebot3_burger2.png" width="600" height="250">
-+ Use simulated burger with rviz
+
++ Using a simulated burger with _rviz_
+
 ```
 (Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_fake turtlebot3_fake.launch
 ```
-(if you use a specific namespace, dont forget to change it in the rviz interface (/odom by /myspace/odom))
+(if you use a specific namespace, dont forget to change it in the rviz interface (e.g. /odom by /myspace/odom))
 <img src="./images/turtlebot3-rviz.png" width="400" height="300">
 
-+ Control burger with keyboard
++ Controlling the burger with keyboard
 ```
 (Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
 ```
@@ -98,12 +106,15 @@ Reinitialize the environment of your Burger:
 
 TODO
 
-# Working with turtlebot3 waffle with arm
-The waffle follows the same philosophy as the burger. The main difference is a bigger platfom and the possibility of installing a robotic arm. Also the waffle can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR. 
+# Working with TurtleBot3 Waffle with arm
+
+The waffle follows the same philosophy as the burger. The main difference is a bigger platfom and the possibility of installing a robotic arm on it. Also the waffle can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR. 
 
 <img src="./images/turtlebot3-waffle1.jpg" width="300" height="350">
 
-## Mobile part Specification
+## Specifications
+
+### Mobile part Specification
 
 + Max translational speed: 0,26 m/s
 + Max rotational speed: 104,27°/s
@@ -120,7 +131,7 @@ The waffle follows the same philosophy as the burger. The main difference is a b
 + 360° LiDAR
 + Raspberry Pi Camera
 
-## Arm part Specification (OpenManipulator RM-X52 TNM)
+### Arm part Specification (OpenManipulator RM-X52 TNM)
 
 + 5xServomotors: Dynamixel XM430-W350-T x 5
 + Power: 12V
@@ -132,41 +143,73 @@ The waffle follows the same philosophy as the burger. The main difference is a b
 + Weight: 700g
 + Range: 380mm
 
-## getting started with ROS 1
+## Getting started with ROS 1
+
+### Configuring 
+
++ Configuring the Remote PC
+
+Add the following lines in the .bashrc of your Remote PC to define the necessary environment variables for runnning ROS: 
 
-+ Configure environment variable of remote PC in bashrc
 ```
-(Remote PC)>export TURTLEBOT3_MODEL=waffle_pi
-(Remote PC)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
-(Remote PC)>export ROS_HOSTNAME=IP_OF_REMOTEPC
-(Remote PC)source your bashrc
++ export TURTLEBOT3_MODEL=waffle_pi
++ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
++ export ROS_HOSTNAME=IP_OF_REMOTE_PC
 ```
-+ Configure environment variable of waffle in bashrc
+Reinitialize the environment of your Remote PC:
+
 ```
-(Waffle)>export TURTLEBOT3_MODEL=waffle_pi
-(Waffle)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
-(Waffle)>export ROS_HOSTNAME=IP_OF_WAFFLE
-(Waffle)source your bashrc
+(Remote PC)> source ~/.bashrc
 ```
-+ Launch roscore
+
+Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run /roscore/ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running /roscore/.
+
++ Configuring the TurtleBot3 Waffle 
+
+From the remote PC, connect to the Waffle by ssh: 
+
+```
+(Remote PC)> ssh pi@{IP_ADDRESS_OF_WAFFLE}
+```
+
+Add the following lines in the .bashrc of the Waffle to define the necessary environment variables for runnning ROS: 
+
+```
++ export TURTLEBOT3_MODEL=waffle_pi
++ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
++ export ROS_HOSTNAME=IP_OF_WAFFLE
+```
+
+Reinitialize the environment of your Waffle:
+
+```
+(Waffle)> source ~/.bashrc
+```
+
+### Launching ROS 
+
++ Launching roscore
 ```
 (Remote PC)>roscore
 ```
-+ Start waffle
++ Starting the Waffle
 ```
-(Remote PC)>ssh pi@{IP_ADDRESS_OF_BURGER}
-(Waffle)>roslaunch turtlebot3_bringup turtlebot3_robot.launch
+(Remote PC)>ssh pi@{IP_ADDRESS_OF_WAFFLE}
+(Waffle)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch  
 ```
-+ Use simulated waffle with gazebo
+
++ Using a simulated Waffle with _gazebo_
 ```
 (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
 ```
 (if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file)
-+ Control waffle with keyboard
+<img src="./images/turtlebot3_burger2.png" width="600" height="250">
+
++ Controlling the Waffle with keyboard
 ```
 (Remote PC)>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
 ```
-+ Control waffle arm
++ Controlling the Waffle Arm
   + Run Bringup node for OpenMANIPULATOR on TurtleBot3
 ```
 roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
@@ -179,7 +222,7 @@ roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
 ```
 (Remote PC)>roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch
 ```
-+ Launch GUI controller
++ Launching the GUI controller
 ```
 (Remote PC)>roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch
 ```