Fixed typos.

example_1.md

@@ -17,7 +17,7 @@ To drive the robot forward with the move node, type the following in a new termi
 
 ```bash
 # Terminal 3
-cd catkin_ws/src/stretch_ros_turotials/src/
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 move.py
 ```
 To stop the node from sending twist messages, type **Ctrl** + **c**.
@@ -151,8 +151,8 @@ self.pub = rospy.Publisher('/stretch_diff_drive_controller/cmd_vel', Twist, queu
 
 After saving the edited node, bringup [Stretch in the empty world simulation](gazebo_basics.md). To drive the robot with the node, type the follwing in a new terminal
 
-```
-cd catkin_ws/src/stretch_ros_turotials/src/
+```bash
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 move.py
 ```
 To stop the node from sending twist messages, type **Ctrl** + **c**.

example_2.md

@@ -54,7 +54,7 @@ To filter the lidar scans for ranges that are directly in front of Stretch (widt
 
 ```bash
 # Terminal 3
-cd catkin_ws/src/stretch_ros_turotials/src/
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 scan_filter.py
 ```
 

example_3.md

@@ -2,19 +2,22 @@
 
 The aim of example 3 is to combine the two previous examples and have Stretch utilize its laser scan data to avoid collision with objects as it drives forward.
 
-Begin by running `roscore` in a terminal. Then set the ros parameter to *navigation* mode  by running the following commands in a new terminal.
+Begin by running `roscore` in a terminal. Then set the ros parameter to *manipulation* mode  by running the following commands in a new terminal.
 
 ```bash
-rosparam set /stretch_driver/mode "navigation"
+# Terminal 1
+rosparam set /stretch_driver/mode "manipulation"
 roslaunch stretch_core stretch_driver.launch
 ```
 Then in a new terminal type the following to activate the LiDAR sensor.
 ```bash
+# Terminal 2
 roslaunch stretch_core rplidar.launch
 ```
 To activate the avoider node, type the following in a new terminal.
 ```bash
-cd catkin_ws/src/stretch_ros_turotials/src/
+# Terminal 3
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 avoider.py
 ```
 To stop the node from sending twist messages, type **Ctrl** + **c** in the terminal running the avoider node.
@@ -35,7 +38,15 @@ from geometry_msgs.msg import Twist
 from sensor_msgs.msg import LaserScan
 
 class Avoider:
+    """
+    A class that implements both a LaserScan filter and base velocity control
+    for collision avoidance.
+    """
     def __init__(self):
+        """
+        Function that initializes the subscriber, publisher, and marker features.
+        :param self: The self reference
+        """
         self.pub = rospy.Publisher('/stretch/cmd_vel', Twist, queue_size=1) #/stretch_diff_drive_controller/cmd_vel for gazebo
         self.sub = rospy.Subscriber('/scan', LaserScan, self.set_speed)
 
@@ -52,6 +63,13 @@ class Avoider:
         self.twist.angular.z = 0.0
 
     def set_speed(self,msg):
+        """
+        Callback function to deal with incoming laserscan messages.
+        :param self: The self reference.
+        :param msg: The subscribed laserscan message.
+
+        :publishes self.twist: Twist message.
+        """
         angles = linspace(msg.angle_min, msg.angle_max, len(msg.ranges))
         points = [r * sin(theta) if (theta < -2.5 or theta > 2.5) else inf for r,theta in zip(msg.ranges, angles)]
         new_ranges = [r if abs(y) < self.extent else inf for r,y in zip(msg.ranges, points)]

example_4.md

@@ -5,12 +5,14 @@
 Let's bringup stretch in the willowgarage world from the [gazebo basics tutorial](gazebo_basics.md) and RViz by using the following command.
 
 ```bash
+# Terminal 1
 roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world rviz:=true
 ```
 the `rviz` flag will open an RViz window  to visualize a variety of ROS topics. In a new terminal run the following commands to create a marker.
 
 ```bash
-cd catkin_ws/src/stretch_ros_turotials/src/
+# Terminal 2
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 marker.py
 ```
 The gif below demonstrates how to add a new *Marker* display type, and change the topic name from `visualization_marker` to `balloon`. A red sphere Marker should appear above the Stretch robot.
@@ -26,7 +28,14 @@ import rospy
 from visualization_msgs.msg import Marker
 
 class Balloon():
+	"""
+	A class that attaches a Sphere marker directly above the Stretch robot.
+	"""
 	def __init__(self):
+		"""
+		Function that initializes the markers features.
+		:param self: The self reference
+		"""
 		self.publisher = rospy.Publisher('balloon', Marker, queue_size=10)
 		self.marker = Marker()
 		self.marker.header.frame_id = '/base_link'
@@ -46,6 +55,12 @@ class Balloon():
 		self.marker.pose.position.z = 2.0
 
 	def publish_marker(self):
+		"""
+		Function that publishes the sphere marker
+		:param self: The self reference
+
+		:publishes self.marker: Marker message
+		"""
 		self.publisher.publish(self.marker)
 
 

example_5.md

@@ -1,15 +1,17 @@
 ## Example 5
 
-![image]()
+Begin by starting up the stretch driver launch file.
 
 
 ```bash
-roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world rviz:=true
+# Terminal 1
+roslaunch stretch_core stretch_driver.launch
 ```
 
 
+
 ```bash
-cd catkin_ws/src/stretch_ros_turotials/src/
+cd catkin_ws/src/stretch_ros_tutorials/src/
 python3 marker.py
 ```
 .
@@ -131,7 +133,7 @@ The use of the `rospy.sleep()` function is to allow the *JSP* class to initializ
 joints = ["joint_lift", "joint_arm_l0", "joint_wrist_yaw"]
 JSP.print_states(joints)
 ```
-Create a list of the desired joints that you want positions to be printed. Then use that list as an argument for the `print_states()` function. 
+Create a list of the desired joints that you want positions to be printed. Then use that list as an argument for the `print_states()` function.
 
 ```python
 rospy.spin()