lab1.md

@@ -61,7 +61,9 @@ For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _si
 Setup the environment
 ---------------------
 
-### First, you will need to add the following to your ```.bashrc``` file:
+### Setting up ```.bashrc``` file:
+
+First, you will need to add the following to your ```.bashrc``` file - this has to be done only once:
 
 ```bash
 if [ -f /courses/TDDE05/software/bin/tdde05-setup.sh ]; then
@@ -98,12 +100,13 @@ start_ros
 Starting the simulator
 -------------------
 
-* To start the robot platform with the simple simulator:
+To start the robot platform with the simple simulator:
 
 ```bash
 start_ros
 ros2 launch air_bringup turtle.launch.py
 ```
+**Important Note!**  ```start_ros``` needs to be used to start  ```bash``` terminal with ROS setup. **This has to be run always before any commands discussed below.**
 
 If all goes well, the following image should appear:
 
@@ -130,34 +133,34 @@ It should start with a default configuration of the tool and look like the follo
 
 The first thing to add is called ```TF```, which shows all the coordinate frames used by the robot. If too many frames are shown, deselect all of them (uncheck ```all enabled```). Then select ```odom``` and base link. It should show the origin of the world and the current position of the robot.)-->
 
-We can now customize which information is visualized in Rviz. Following are instructions to add visualization of robot's position, its 3D model and map of the environment.
+We can now customize which information is visualized in Rviz. The following are instructions for adding a visualization of the robot's position, its 3D model, and an environment map.
 
 <details>
-  <summary>1. Click me - Adding TF to visualization - relevant coordinate frames!</summary>
+  <summary><span style="font-weight:bold;">1. Click me - Adding TF to visualization - relevant coordinate frames!</span></summary>
 
   ### Adding TF to visualization - relevant coordinate frames!
 
-  1. Click on ```Add``` button in `Displays` panel and select the ```TF``` visualization. 
-  2. Once its added, expand the `TF` in `Displays` panel.
-  3. Look for ```Frames``` field. Most likely too many frames will be shown. Deselect all of them (uncheck ```All Enabled```). Then select ```odom``` and ```base link```. 
+  1. Click on the ```Add``` button in the `Displays` panel and select the ```TF``` visualization. 
+  2. Once it is added, expand the `TF` in the `Displays` panel.
+  3. Look for the ```Frames``` field. Most likely too many frames will be shown. Deselect all of them (uncheck ```All Enabled```). Then, select the ```odom``` and the ```base link```. 
   4. Now, rviz should show the origin of the world and the current position of the robot. 
 
 Here are the screenshots for steps 1-4:
 
 ![rviz_add](uploads/6ed71d5720c80f448f5adb93e1b9a7e2/rviz_add.png)
-![rviz_model_1](uploads/rviz-robot-model-1.jpg)
-![rviz_model_1](uploads/rviz-robot-model-2.jpg)
+![rviz_model_1](uploads/rviz-tf-2.jpg)
+![rviz_model_1](uploads/rviz-tf-3.jpg)
 
 </details>
 
 <details>
-  <summary>2. Click me - Adding 3D model of the robot to visualization!</summary>
+  <summary><span style="font-weight:bold;">2. Click me - Adding a 3D model of the robot to visualization!</span></summary>
 
-  ### Adding 3D model of the robot to visualization!
+  ### Adding a 3D model of the robot to visualization!
 
-  1. Click on ```Add``` button in `Displays` panel and select the ```RobotModel``` visualization. 
-  2. Once its added, expand the `RobotModel` in `Displays` panel.
-  3. Look for ```Description Topic``` field and change its value to ```/robot_description```.
+  1. Click on the ```Add``` button in the `Displays` panel and select the ```RobotModel``` visualization. 
+  2. Once it is added, expand the `RobotModel` in the `Displays` panel.
+  3. Look for the ```Description Topic``` field and change its value to ```/robot_description```.
 
 Here are the screenshots for steps 1-3:
 
@@ -167,13 +170,13 @@ Here are the screenshots for steps 1-3:
 </details>
 
 <details>
-  <summary>3. Click me - Adding map of the environment to visualization!</summary>
+  <summary><span style="font-weight:bold;">3. Click me - Adding a map of the environment to visualization!</span></summary>
 
-  ### Adding 3D map of the environment to visualization!
+  ### Adding 3D a map of the environment to visualization!
 
-  1. Click on ```Add``` button in `Displays` panel and select the ```Map``` visualization. 
-  2. Once its added, expand the `Map` in `Displays` panel.
-  3. Look for ```Topic``` field and change its value to ```/map```.
+  1. Click on the ```Add``` button in the `Displays` panel and select the ```Map``` visualization. 
+  2. Once it is added, expand the `Map` in `Displays` panel.
+  3. Look for the ```Topic``` field and change its value to ```/map```.
 
 Here are the screenshots for steps 1-3:
 
@@ -186,9 +189,11 @@ Here are the screenshots for steps 1-3:
 
 Then, add the map used by the robot to navigate: you can use the ```map``` visualization and then select the ```/map``` topic.
 -->
-If you were successful your Rviz window should look as on the screenshot blow.
+</br>
+If you were successful, your Rviz window should look as on the screenshot blow.
 **Note**, you can save your Rviz configuration from the file menu.
 
+</br>
 
 ![rviz_final](uploads/77a697f1e5267c9b0bb23589c0241637/rviz_final.png)