lab1.md

@@ -58,7 +58,7 @@ _TurtleBot 4_ is the next-generation of the world’s most popular open-source r
 
 For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _simple simulator_, which can run well in ThinLinc or the lab computers. The official project uses a 3D simulator, [https://gazebosim.org/](Gazebo), which works poorly on the IDA's computers.
 
-Setup the environment
+Setup the Environment
 ---------------------
 
 ### Setting up ```.bashrc``` file:
@@ -96,16 +96,14 @@ Start Apptainer ROS
 start_ros
 ```
 
-<div style="padding: 5pt;background-color: rgb(221, 250, 221);border-left: 3px solid rgb(106, 222, 106);margin-bottom: 1ex;">
 
 **Important Note!** 
 
 ```start_ros``` needs to be used to start  ```bash``` terminal with ROS setup when you open a new Terminal window.
 
  **This has to be run always before any commands discussed below when using new Terminal window (as shown in the "Starting the simulator section), otherwise ROS commands will not work.**
-</div>
 
-Starting the simulator
+Starting the Simulator
 -------------------
 
 To start the robot platform with the simple simulator, open new Terminal and run:
@@ -206,7 +204,7 @@ If you were successful, your Rviz window should look as on the screenshot blow.
 
 
 
-Sending commands to the robot
+Sending Commands to the Robot
 -------------------------
 
 The robot is ready to accept commands. The first commands you can send to the robot are for docking and undocking, in a terminal:
@@ -228,7 +226,7 @@ The following action can be used to move the robot to a specific position:
 ros2 action send_goal /navigate_to_position irobot_create_msgs/action/NavigateToPosition "{achieve_goal_heading: true,goal_pose:{pose:{position:{x: 3, y: 4,z: 0.0}, orientation:{x: 0.0,y: 0.0, z: 0.0, w: 1.0}}}}"
 ```
 
-Managing topics from the command line
+Managing Topics from the Command Line
 -------------------------------------
 
 The main communication medium for ROS is through the use of _topics_. Topics have a name and a type and follow a publisher-subscriber pattern. You can use the following command to list all available topics:
@@ -287,7 +285,7 @@ You should see something like this:
 
 ![rqt_plot](uploads/4789982040a3f366345e47c4d930e8e5/rqt_plot.png)
 
-screen
+GNU Screen Tool
 ------
 
 As you can see, we ended up starting a lot of commands from the terminal. It can be annoying to have so many windows and terminals open, a solution is to use [GNU Screen](https://www.gnu.org/software/screen/), which allows to start all the processes in a single terminal window.