From 63587da0650176bfdd577fa526920ce82b234ab6 Mon Sep 17 00:00:00 2001 From: Andrew Jong Date: Thu, 19 Dec 2024 17:23:18 -0500 Subject: [PATCH] Update getting started docs --- docs/development/project_configuration.md | 4 ++++ docs/getting_started.md | 14 ++------------ mkdocs.yml | 1 + 3 files changed, 7 insertions(+), 12 deletions(-) create mode 100644 docs/development/project_configuration.md diff --git a/docs/development/project_configuration.md b/docs/development/project_configuration.md new file mode 100644 index 00000000..0309a868 --- /dev/null +++ b/docs/development/project_configuration.md @@ -0,0 +1,4 @@ +# Project Configuration + +The project as a whole can be configured using the `.env` file under the project root. +The variables in the `.env` file gets populated into the root `docker-compose.yml`. \ No newline at end of file diff --git a/docs/getting_started.md b/docs/getting_started.md index a6e7d55c..251f457e 100644 --- a/docs/getting_started.md +++ b/docs/getting_started.md @@ -88,21 +88,11 @@ This will automatically launch and play the Isaac scene specified under `AirStac ## Move Robot -Find the RQT GUI window. Hit `Takeoff`, then hit `Publish` in the trajectory window like in this video: +Find the RQT GUI window. Hit `Arm and Takeoff`, then hit `Global Plan` in the trajectory window like in this video: -Note you can also use the `ros2 topic pub` command to move the robot. For example, to fly to a position: - -```bash -# start another terminal in docker container -docker exec -it airstack-robot-1 bash -# in docker -# FLY TO POSITION. Put whatever position you want -ros2 topic pub /robot_1/interface/mavros/setpoint_position/local geometry_msgs/PoseStamped \ - "{ header: { stamp: { sec: 0, nanosec: 0 }, frame_id: 'base_link' }, \ - pose: { position: { x: 10.0, y: 0.0, z: 20.0 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } } }" -1 -``` +You can also switch to `Fixed Trajectory` mode and hit `Publish` on the bottom right to fly a predefined trajectory. ## Shutdown diff --git a/mkdocs.yml b/mkdocs.yml index 16585199..f6dc86d6 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -44,6 +44,7 @@ nav: - docs/development/index.md - docs/development/docker_usage.md - docs/development/vscode/index.md + - docs/development/project_configuration.md - Testing: - docs/development/testing/index.md - docs/development/testing/testing_frameworks.md