Merge pull request #53 from ETHZ-RobotX/feature/update-docs

add doc fixes

docs/installation/local-installation.md

@@ -234,6 +234,15 @@ alias connect-smb="export ROS_MASTER_URI=http://\$(ip route show default | grep
 
 Then (for any newly openend terminal), you can execute `connect-smb` to set the correct environment variables for your robot.
 
+The `connect-smb` command doesn't work on Docker running on Mac and Windows, there you can set an allias for exporting the `ROS_MASTER_URI` and manually find the `ROS_IP` of the host using `ifconfig` (e.g: 10.0.X.Y)
+{: .warning}
+
+```bash
+# For mac/windows docker environment
+alias connect-smb261="export ROS_MASTER_URI=http://10.0.1.5:11311 ; export ROS_IP=10.0.1.Y" # replace the Y with the ip of the host computer (outside docker)
+
+# You can define similar commands for other robots
+```
 
 ## 🔂 Updating the SMB Core Software
 

docs/physical-robot/setting-up/robot-workspace-setup.md

@@ -180,4 +180,14 @@ A convinient way to set the variables is to **adjust the following code to match
 alias connect-smb="export ROS_MASTER_URI=http://\$(ip route show default | grep -oP 'via \K\d+\.\d+\.\d+').5:11311 ; export ROS_IP=\$(ip route get 8.8.8.8 | grep -oP '(?<=src )\S+') ; echo 'ROS_MASTER_URI and ROS_IP set to ' ; printenv ROS_MASTER_URI ; printenv ROS_IP"
 ```
 
-Then (for any newly openend terminal), you can execute `connect-smb` to set the correct environment variables for your robot.
+Then (for any newly openend terminal), you can execute `connect-smb` to set the correct environment variables for your robot.
+
+The `connect-smb` command doesn't work on Docker running on Mac and Windows, there you can set an allias for exporting the `ROS_MASTER_URI` and manually find the `ROS_IP` of the host using `ifconfig` (e.g: 10.0.X.Y)
+{: .warning}
+
+```bash
+# For mac/windows docker environment
+alias connect-smb261="export ROS_MASTER_URI=http://10.0.1.5:11311 ; export ROS_IP=10.0.1.Y" # replace the Y with the ip of the host computer (outside docker)
+
+# You can define similar commands for other robots
+```

docs/physical-robot/tasks/object-detection.md

@@ -12,10 +12,20 @@ has_toc: false
 Once the planner is set up and the real SMB is running, you can begin experimenting with object detection. Ensure that the `object_detection` package is built. If it isn't, use the following command:
 
 ```bash
-# On the host PC
+# On the SMB
 catkin build object_detection   
 ```
 
+Source the workspace again and launch the SMB launch file.
+
+```bash
+# On the SMB
+roslaunch smb smb.launch
+
+# If you see the message "First IMU Received",
+# everything started without any problem
+```
+
 Next, launch the object detection locally with these parameters for the real robot:
 
 - `model_path=""`: Don't set this parameter if you want to use the pre-installed model. If you have a downloaded model, specify its path.
@@ -25,13 +35,14 @@ Next, launch the object detection locally with these parameters for the real rob
 To launch the detection pipeline locally, run:
 
 ```bash
-# In the host PC
+# On the SMB
 roslaunch object_detection object_detection.launch object_detection_classes:="[0,1,2,10]"
 ```
 
 To view the bounding boxes and get more information about the detections use the following two commands:
 
 ```bash
+# On the host
 rosrun rqt_image_view rqt_image_view
 ```
 
@@ -44,6 +55,7 @@ Then select the following topic to see the bounding boxes in the image:
 To get more information like position, classification, etc. subscribe to or echo the following topic: 
 
 ```bash
+# On the host
 rostopic echo /object_detector/detection_info
 ```
 

docs/simulation/tasks/object-detection.md

@@ -15,6 +15,16 @@ Once the planner is set up and the SMB simulation is running, you can begin expe
 catkin build object_detection   
 ```
 
+Source the workspace again and launch the SMB launch file.
+
+```bash
+# On the host PC
+roslaunch smb smb.launch
+
+# If you see the message "First IMU Received",
+# everything started without any problem
+```
+
 Next, launch the object detection locally with these parameters for simulation:
 
 - `gpu="off"`: Runs detection on the CPU.
@@ -29,12 +39,13 @@ Note: The `object_detection_classes` parameter is only effective on the real rob
 To launch the detection pipeline locally, run:
 
 ```bash
-# In the host PC
+# On the host PC
 roslaunch object_detection object_detection.launch gpu:=off model:=yolov5l6
 ```
 To view the bounding boxes and get more information about the detections use the following two commands:
 
 ```bash
+# On the host PC
 rosrun rqt_image_view rqt_image_view
 ```
 
@@ -47,6 +58,7 @@ Then select the following topic to see the bounding boxes in the image:
 To get more information like position, classification, etc. subscribe to or echo the following topic: 
 
 ```bash
+# On the host PC
 rostopic echo /object_detector/detection_info
 ```