lab2.md

@@ -3,26 +3,14 @@ Lab 2: Navigation
 
 In this lab, you will start programming your first ROS node.
 
-<div style="background-color: rgb(221, 250, 221);border-left: 3px solid rgb(106, 222, 106)">
-
-**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>
-
-{+
-
 **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.**
 
-+}
 
-Setup the environment
+Setup the Environment
 ---------------------
 
 To setup your environment:
@@ -112,7 +100,7 @@ If you are using C++, you can add a custom build command by editing the default
 </details>
 
 
-Create a package for screen and Rviz
+Creating a Package for Screen and Rviz
 ------------------------------------
 
 We will create a package ```air_lab_common``` to add common files among all the labs, such as the screen file to start commands and the Rviz configuration.
@@ -176,7 +164,7 @@ We also would like to load Rviz configuration automatically. To do so you can us
 rviz2 -d $HOME/TDDE05/ros2_ws/src/labs/air_lab_common/rviz/[name of your rviz config]
 ```
 
-Create a package for Lab2
+Creating a Package for Lab2
 -------------------------
 
 To create a Python package with a default node:
@@ -217,7 +205,7 @@ You can then run your node with the following command:
 ros2 run air_lab2 lab2_node
 ```
 
-Publishing on a topic
+Publishing on a Topic
 ---------------------
 
 At this point, your node is not doing anything interesting. First, we will make our node send a message on a topic. We will make it send a velocity on ```/cmd_vel```.
@@ -234,7 +222,7 @@ Modify the publisher example to instead publish a ```geometry_msgs/msg/Twist```
 
 The documentation for ```geometry_msgs/Twist``` can be found online at [geometry_msgs/Twist](https://docs.ros2.org/galactic/api/geometry_msgs/msg/Twist.html) or by running ```ros2 msg info geometry_msgs/Twist```.
 
-Listen on a topic
+Listening to a Topic
 -----------------
 
 In the previous part, we created a node that publishes on a topic and makes your robot move, but it never stops. In this part, we will listen to the ```/odom``` topic and use that information to stop when the robot has moved more than 1.0 meters away from its start position.
@@ -245,7 +233,7 @@ Check in the Python or C++ tutorial to see how you can subscribe to a topic. You
 * Add a printout in the callback to check that you received a message.
 * Modify your program so that it exits once the robot has moved by 1.0 meters.
 
-Parameters
+Command Line Parameters
 ----------
 
 For now, we have hard-coded parameters, such as the velocity and the distance. To make our node more effective, we should set those as parameters on the command line.
@@ -260,7 +248,7 @@ Before starting, you should study the [official Python tutorial](https://docs.ro
 
 Create a ```linear```, ```angular``` and ```distance``` parameter.
 
-Navigation and path planning
+Navigation and Path Planning
 ----------------------------
 
 The turtlebot4 includes a motion planner that can navigate and avoid obstacles. This is implemented as an action that can be started from the terminal with the following command:
@@ -289,7 +277,7 @@ Now you can select ```Nav2 goal``` tool and click in Rviz to make your robot mov
 
 ![rviz2_navigation_2](uploads/6b7d4787d3ff24dfb3f94fed12b10bab/rviz2_navigation_2.png)
 
-Exploration with a random pattern
+Exploration with a Random Pattern
 ---------------------------------
 
 We will now create a new node that will send the robot to a random location to explore the map. We will need to create a new node in the ```air_lab2``` module.