lab2.md

@@ -3,6 +3,16 @@ Lab 2: Navigation
 
 In this lab, you will start programming your first ROS node.
 
+<div style="padding: 5pt;background: rgb(221, 250, 221);border-left: 3px solid rgb(106, 222, 106);margin-bottom: 1ex;">
+
+**Remainder!** 
+
+```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, otherwise ROS commands will not work.**
+</div>
+
+
 Setup the environment
 ---------------------
 
@@ -28,7 +38,6 @@ In ```~/TDDE05/ros2_ws/```, you will now have four directories
 
 Setup GIT Repository
 --------------------
-
 <details>
   <summary><span style="font-weight:bold;">Click me - Your GIT repository and adding SSH Key!</span></summary>
 
@@ -57,6 +66,43 @@ git remote add origin git@gitlab.liu.se:tdde05-2025/air-labs-XX.git
 git push --set-upstream origin master
 ```
 
+Using Visual Studio Code as IDE
+--------------------
+You can use Visual Studio Code to work with your files. It's important to start the VSCode in the ROS environment, that is, execute first ```start_ros``` before executing ```code``` command. Once VSCode has started ```Open Folder``` and select ```~/TDDE05/ros2_ws``` folder. 
+
+If you are using Python, no additional steps are required.
+
+If you are using C++, you can add a custom build command by editing the default built task (```Configure Default Built Task...``` in ```Terminal``` menu bar). Use the following settings:
+```bash
+{
+	"version": "2.0.0",
+	"tasks": [
+		{
+			"type": "shell",
+			"label": "C/C++: clang-14 build active file",
+			"command": "tdde05-build",
+			"options": {
+				"cwd": "${fileDirname}"
+			},
+			"problemMatcher": [
+				"$gcc"
+			],
+			"group": {
+				"kind": "build",
+				"isDefault": true
+			},
+			"detail": "compiler: /usr/bin/clang-14"
+		}
+	]
+}
+```
+<details>
+  <summary><span style="font-weight:bold;">Click me - VSCode screenshot</span></summary>
+  
+  ![VSCode](uploads/code-python.jpg)
+</details>
+
+
 Create a package for screen and Rviz
 ------------------------------------
 
@@ -214,7 +260,7 @@ The turtlebot4 includes a motion planner that can navigate and avoid obstacles.
 ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose  "pose: {header: {frame_id: map}, pose: {position: {x: 6.0, y: 2.0, z: 0.0}, orientation:{x: 0.0, y: 0.0, z: 0, w: 1.0000000}}}"
 ```
 
-It can also be started from RViz. Before we start, you should add the following visualizations:
+It can also be started from RViz. Before we start, you should add the following visualizations (similarly to Lab1, two types should be used, i.e., ```Map``` and ```Path```):
 
 * ```/global_costmap/costmap``` and change the colorscheme to costmap
 * ```/local_costmap/costmap``` and change the colorscheme to costmap