Merge branch 'ROS2' into galactic

gazebo_basics.md

@@ -7,7 +7,7 @@ Refer to the instructions below if you want to test this functionality in ROS 1.
 
 ### Empty World Simulation
 To spawn the Stretch in gazebo's default empty world run the following command in your terminal.
-```bash
+```
 roslaunch stretch_gazebo gazebo.launch
 ```
 This will bringup the robot in the gazebo simulation similar to the image shown below.
@@ -17,14 +17,14 @@ This will bringup the robot in the gazebo simulation similar to the image shown
 
 ### Custom World Simulation
 In gazebo, you are able to spawn Stretch in various worlds. First, source the gazebo world files by running the following command in a terminal
-```BASH
+```
 echo "source /usr/share/gazebo/setup.sh"
 ```
 
 
 Then using the world argument, you can spawn the stretch in the willowgarage world by running the following
 
-```bash
+```
 roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world
 ```
 

internal_state_of_stretch.md

@@ -11,6 +11,7 @@ ros2 topic echo /stretch/joint_states
 ```
 
 Your terminal will then output the information associated with the `/stretch/joint_states` topic. Your `header`, `position`, `velocity`, and `effort` information may vary from what is printed below.
+
 ```
 header:
   seq: 70999
@@ -26,7 +27,6 @@ velocity: [0.00015598730463972836, -0.00029395074514369584, -0.00028038454542173
 effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
 ---
 ```
-
 Additionally, if you type `ros2 topic list` in the terminal, you will see the list of active topics being published.
 
 A powerful tool to visualize the ROS communication is through the rqt_graph package. You can see a graph of topics being communicated between nodes by typing the following.
@@ -38,4 +38,4 @@ ros2 run rqt_graph rqt_graph
 
 The graph allows a user to observe and affirm if topics are broadcasted to the correct nodes. This method can also be utilized to debug communication issues.
 
-**Next Tutorial:** [RViz Basics](rviz_basics.md)
+**Next Tutorial:** [RViz Basics](rviz_basics.md)

rviz_basics.md

@@ -23,10 +23,10 @@ TODO: Add the correct link for working with rviz2 in ROS 2
 There are further tutorials for RViz that can be found [here](http://wiki.ros.org/rviz/Tutorials).
 
 
-## Running RViz and Gazebo
+## Running RViz and Gazebo (Simulation)
 Let's bringup stretch in the willowgarage world from the [gazebo basics tutorial](gazebo_basics.md) and RViz by using the following command.
 
-```bash
+```
 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.

teleoperating_stretch.md

@@ -34,18 +34,19 @@ If you're done, hold down the Shutdown PC button for 2 seconds. This will cause
 
 ### Keyboard Teleoperating
 
-To teleoperate a Stretch's **mobile base** with the keyboard, you first need to set the ros parameter to *navigation* mode in order for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands
+To teleoperate a Stretch's mobile base with the keyboard, you first need to set the ros parameter to *navigation* mode for the robot to receive *Twist* messages. Begin by running `roscore` in a terminal. Then in a new terminal, type the following commands
 
-```bash
+```
 rosparam set /stretch_driver/mode "navigation"
 roslaunch stretch_core stretch_driver.launch
 ```
 The first line will set the stretch driver mode to *navigation* before running the `stretch_driver.launch` file.
 
 Then in a new terminal launch the teleop_twist_keyboard node with the argument remapping the *cmd_vel* topic name to *stretch/cmd_vel*.
-```bash
+```
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=stretch/cmd_vel
 ```
+
 Below are the keyboard commands that allow a user to move Stretch.  
 ```
 Reading from the keyboard  and Publishing to Twist!
@@ -93,7 +94,7 @@ roslaunch stretch_gazebo gazebo.launch
 
 In a new terminal, type the following
 
-```bash
+```
 roslaunch stretch_gazebo teleop_keyboard.launch
 ```
 The same keyboard commands will be presented to a user to move the robot.
@@ -101,7 +102,7 @@ The same keyboard commands will be presented to a user to move the robot.
 ### Xbox Controller Teleoperating
 An alternative for robot base teleoperation is to use an Xbox controller. Stop the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine and run the following command.
 
-```bash
+```
 roslaunch stretch_gazebo teleop_joy.launch
 ```
 Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless pressed. For a Logitech F310 joystick, this button is A.