lab1.md

@@ -107,7 +107,7 @@ ros2 launch air_bringup turtle.launch.py
 
 If all goes well, the following image should appear:
 
-![simple_sim](uploads/303eb34883048aa7deb52ba8d0e7da01/simple_sim.png)
+![simple_sim](uploads/simple_sim.jpg)
 
 The _red_ dot is the robot. The black squares are obstacles, and the dots with numbers are semantic objects used in another lab assignment.
 
@@ -124,12 +124,44 @@ It should start with a default configuration of the tool and look like the follo
 
 ![rviz_empty](uploads/62e97910ebad5d01376885940c0d48de/rviz_empty.png)
 
-We can add visualization using the ```add``` button. It should show a display like this:
+We can add visualization using the ```Add``` button. It should show a display like this:
 
 ![rviz_add](uploads/6ed71d5720c80f448f5adb93e1b9a7e2/rviz_add.png)
 
 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.
 
+<details>
+  <summary>1. Click me - Adding 3D model of the robot to visualization!</summary>
+
+  ### Adding 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```.
+
+Here are the screenshots for steps 1-3:
+
+![rviz_model_1](uploads/rviz-robot-model-1.jpg)
+![rviz_model_1](uploads/rviz-robot-model-2.jpg)
+
+</details>
+
+<details>
+  <summary>2. Click me - Adding map of the environment to visualization!</summary>
+
+  ### Adding 3D 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```.
+
+Here are the screenshots for steps 1-3:
+
+![rviz_model_1](uploads/rviz-map-1.jpg)
+![rviz_model_1](uploads/rviz-map-2.jpg)
+
+</details>
+
 Then, add a 3D model of the robot, using the ```RobotModel``` visualization. In the `Displays` panels, look for `RobotModel` you need to write ```/robot_description``` for ```Description Topic```.
 
 Then, add the map used by the robot to navigate: you can use the ```map``` visualization and then select the ```/map``` topic.
@@ -153,7 +185,7 @@ ros2 action send_goal /undock irobot_create_msgs/action/Undock {}
 The following action can be used to make the robot move forward with a given velocity:
 
 ```bash
-ros2 action send_goal /drive_distance irobot_create_msgs/action/DriveDistance "{ distance: 3.5, max_translation_speed: 0.3 }"
+ros2 action send_goal /drive_distance irobot_create_msgs/action/DriveDistance "{ distance: 2.0, max_translation_speed: 0.3 }"
 ```
 
 The following action can be used to move the robot to a specific position:
@@ -203,11 +235,11 @@ An alternative approach to using the command line for listening or publishing on
 rqt
 ```
 
-Then in the interface, from the plugin menu, add the following:
+Then in the interface, from the Plugins menu, add the following:
 
-* ```topics > message publisher```
-* ```topics > topic monitor```
-* ```robot tools > robot steering``` you can then set the topic to ```/cmd_vel```.
+* ```Topics > Message Publisher```
+* ```Topics > Topic Monitor```
+* ```Robot Tools > Robot Steering``` you can then set the topic to ```/cmd_vel```.
 
 The window should look like this: