Merge pull request #5 from UW-Advanced-Robotics-Lab/tim/dec-2023

update wiki demo launching

docs/Waterloo-Steel:Platform-Instruction.md

@@ -137,8 +137,8 @@ ssh robot@192.168.1.40
 
 ### 1.2.1 Turn on the robot (Main Power Switch)
 
+- first make sure the E-stop for Base is engaged
 - by twisting power knobs for Base
-
 - we should see the green button (for jetson pc) is lighting on
 - fan spinning, and everything should be powered except WAM
 

docs/Waterloo-Steel:Platform-Launch-Demos.md

@@ -1,13 +1,16 @@
 <toc>
 
 # Table of Contents
-[*Last generated: Wed  4 Oct 2023 15:34:20 EDT*]
+[*Last generated: Thu 07 Dec 2023 02:20:12 PM EST*]
 - [**0. General**](#0-General)
 - [**1. [Launch Instruction] Waterloo Steel Demo (Jack)**](#1-Launch-Instruction-Waterloo-Steel-Demo-Jack)
   - [1.1 Launching the Camera](#11-Launching-the-Camera)
   - [1.2 Launching WAM](#12-Launching-WAM)
   - [1.3 Launching Demo Node](#13-Launching-Demo-Node)
-  - [1.4 Check Demo Rosbag Records:](#14-Check-Demo-Rosbag-Records)
+  - [1.4 Launching Mobile Base trajectory demo](#14-Launching-Mobile-Base-trajectory-demo)
+      - [Stopping the Experiment](#Stopping-the-Experiment)
+  - [1.5 Check Demo Rosbag Records:](#15-Check-Demo-Rosbag-Records)
+  - [1.6 Collecting Rosbag Data:](#16-Collecting-Rosbag-Data)
 
 ---
 </toc>
@@ -67,22 +70,53 @@ $ roslaunch waterloo_steel_supervisor waterloo_steel_demo.launch
 $ rosservice call /waterloo_steel/start_demo "demo_id: 2"
 ```
 
-## 1.4 Check Demo Rosbag Records:
-
-```bash
-$ ls ~/.ros/bagfiles/waterloo_steel_demo/session_{id}/
+## 1.4 Launching Mobile Base trajectory demo
+First SSH into Base pc
+```
+$ ssh uwarl@192.168.1.11
 ```
 
+```
+$ tmux_multi
+```
+This will launch a tmux with 2 vertically split windows. To split the windows again, press right mouse-click + h for horizontal split or right mouse-click + v for vertical split. (For older versions: use Ctrl+b % or Ctrl+b ")
 
+Then launch the Rosbag recorder action server and Base controller action server in two separate windows.
+```
+$ roslaunch rosbag_recorder rosbag_recorder_action_server.launch 
+$ roslaunch base_controller Base_controller.launch
+```
+For an experiment using VICON data in the RobotHub, use the Base controller below:
+```
+$ roslaunch base_controller Base_controller_vicon.launch
+```
 
+Next, run the desired demo node to pass the trajectory to the Base controller and start the recording. 
+```
+$ rosrun waterloo_steel_sim_bringup Demo_V09_base_control_demo.py
+```
+This node will pass the specified trajectory to the Base controller action server. To change the way-points, go to the `SummitClass_V6_demo_base.py' file and change to the desired trajectory. Two simple trajectories are available. A circular motion, and a linear motion. Next to that, way-points can be defined in a .txt file and loaded.
 
+#### Stopping the Experiment
+To stop the experiment, shutdown the Base controller action server. This will stop the movement of the robot.
+Make sure to stop the Rosbag recorder action server as well to stop the recording, to prevent large sizes of rosbag files.
 
+> [!IMPORTANT] 
+> ⚠️ In case of an emergency, press and hold the R1 button on the Steam Deck controller. This will overrule all velocity commands and will stop the movement of the base. Then, shutdown the Base controller action server to stop it from publishing the velocity commands for following the trajectory. 
 
+## 1.5 Check Demo Rosbag Records:
+Depending on where the Rosbag data is saved.
 
+```bash
+$ ls ~/.ros/bagfiles/waterloo_steel_demo/session_{id}/
+```
 
-
-
-
+## 1.6 Collecting Rosbag Data:
+Data copying can be done in 2 ways. For direct acces, connect one of the USB-C ports of the robot with an external drive. Then copy directly to the drive via SSH or NoMachine.
+The second option is to copy over the network. This is not as fast, but might be convenient. Make sure to be connected to the robot wifi. This method will copy the entire `bagfiles` folder. 
+```
+$ scp -r uwarl@192.168.1.11:~/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_viz/waterloo_steel_sim_bringup/bagfiles ~/{Folder in which you want to copy the files}
+```