Updated simulation documentation (nasa#195)

* Rearranged and added to the sim documentation.

* More simulation documentation clean up.

Also finished simulation issues documentation.

* making graph optimizer a subpage of the localization

* making graph optimizer a subpage of the localization

* organizing simulation tree

Co-authored-by: Marina Moreira <[email protected]>

astrobee/launch/sim.launch

@@ -41,7 +41,7 @@
   <arg name="sviz" default="false" />           <!-- Start simulation GUI    -->
   <arg name="rqt" default="false" />            <!-- Start user interface    -->
   <arg name="gds" default="false" />            <!-- Enable GDS              -->
-  <arg name="agent1" default="Bsharp"/>         <!-- GDS Agent1              -->
+  <arg name="agent1" default="Queen"/>          <!-- GDS Agent1              -->
   <arg name="agent2" default="Bumble"/>         <!-- GDS Agent2              -->
   <arg name="agent3" default="Honey"/>          <!-- GDS Agent3              -->
   <arg name="vmware" default="true" />          <!-- Enable vmware           -->
@@ -168,7 +168,7 @@
       <arg name="world" value="$(arg world)" />      <!-- Execution context  -->
       <arg name="ns" value="honey" />                <!-- Robot namespace    -->
       <arg name="output" value="$(arg output)" />    <!-- Output for logging -->
-      <arg name="pose" value="0 0 4.8 0 0 0 1" />    <!-- Initial robot pose -->
+      <arg name="pose" value="11 -7 4.8 0 0 0 1" />    <!-- Initial robot pose -->
       <arg name="spurn" value="$(arg spurn)" />      <!-- Prevent node       -->
       <arg name="nodes" value="$(arg nodes)" />      <!-- Launch node group  -->
       <arg name="extra" value="$(arg extra)" />      <!-- Inject extra nodes -->
@@ -188,7 +188,7 @@
       <arg name="ns" value="bumble" />               <!-- Robot namespace    -->
       <arg name="output" value="$(arg output)" />    <!-- Output for logging -->
       <arg if="$(eval arg('bumble_pose') == '')" 
-           name="pose"  value="2 0 4.8 0 0 0 1" />   <!-- Initial robot pose -->
+           name="pose"  value="11 -4 4.8 0 0 0 1" />   <!-- Initial robot pose -->
       <arg unless="$(eval arg('bumble_pose') == '')" 
            name="pose"  value="$(arg bumble_pose)" /> 
       <arg name="spurn" value="$(arg spurn)" />      <!-- Prevent node       -->
@@ -209,7 +209,7 @@
       <arg name="world" value="$(arg world)" />      <!-- Execution context  -->
       <arg name="ns" value="queen" />                <!-- Robot namespace    -->
       <arg name="output" value="$(arg output)" />    <!-- Output for logging   -->
-      <arg name="pose" value="4 0 4.8 0 0 0 1" />    <!-- Initial robot pose -->
+      <arg name="pose" value="11 -10 4.8 0 0 0 1" />    <!-- Initial robot pose -->
       <arg name="spurn" value="$(arg spurn)" />      <!-- Prevent node       -->
       <arg name="nodes" value="$(arg nodes)" />      <!-- Launch node group  -->
       <arg name="extra" value="$(arg extra)" />      <!-- Inject extra nodes -->

doc/general_documentation/INSTALL.md

@@ -31,7 +31,7 @@ First, clone the flight software repository and media:
     git clone https://github.com/nasa/astrobee.git $SOURCE_PATH
     pushd $SOURCE_PATH
     git submodule update --init --depth 1 description/media
-
+    popd
 
 If you are planning to work with guest science code, you will also need the
 `astrobee_android` repository. You should checkout the repository in the same
@@ -136,4 +136,4 @@ Please contact your Astrobee point of contact if you need to cross compile the
 code.
 
 For more information on running the simulator and moving the robot, please see
-the [simulation instructions](simulation/sim_overview.md).
+the \ref sim-readme.

doc/general_documentation/NASA_INSTALL.md

@@ -229,9 +229,7 @@ find that the above command doesn't work, try rebuilding the cache:
 
     rospack profile
 
-A simulator readme was created for guest science users. However this readme may
-be beneficial to interns and/or new members. If you fall into one of these
-categories, please see the [simulation instructions](simulation/sim_overview.md).
+For more information on running the simulator and moving the robot, please see the \ref sim-readme.
 
 ## Running the code on a real robot
 

localization/readme.md

@@ -6,6 +6,8 @@ This folder consists of various sensing algorithms which serve as input to local
 
 \subpage graphlocalizer
 
+\subpage graphoptimizer
+
 \subpage groundtruthlocalizer
 
 \subpage handrail

management/executive/teleop_tool.md

@@ -1,16 +1,14 @@
 \page teleop Teleoperation Tool Instructions
 
-These instructions assume that you have followed the
-[install instructions](../../INSTALL.md) and the
-[simulation instructions](../../simulation/sim_overview.md).
+These instructions assume that you have followed
+\ref install-nonNASA or \ref install-NASA and \ref running-the-sim.
 
 A teleop tool has been added to allow you to issue some commands and get some
 telemetry from the robot. This should only be used to play with the simulator
 and get a feel for how Astrobee works. As an external user, we consider you to
 be a guest sciencist and we expect you to follow the guest science framework we
 have created. Please see the Guest Science Applications section in the
-[simulation_instructions](../../simulation/sim_overview.md#guest-science-applications) for
-more information.
+\ref running-the-sim documentation for more information.
 
 To use the teleop tool, the user must specify what they want to do through
 flags. This section will take you through the flags the tool offers. Please
@@ -19,9 +17,8 @@ will not be able to use both the dock flag and the move flag. Also you don't
 need to use a mobility flag. You can run the teleop tool just to get telemetry.
 Please make sure the terminal you are using for the tool has its environment
 setup. For information on how to setup the terminal environment, please see
-the Setting up your Environment section of the
-[simulator readme](../../simulation/sim_overview.md#setting-up-your-environment).
-
+the Setting up your Environment section of the \ref running-the-sim
+documentation.
 
 ## Basic Usage
 
@@ -76,9 +73,8 @@ This flag can be used to stop the robot and is considered a mobility flag. If
 you are using the teleop tool to move the robot and it isn't running in the
 background, you will have to run the teleop tool with the stop flag in another
 terminal whose environment is setup. For information on how to setup the
-terminal, please see the Setting up your Environment section of the
-[simulator readme](../../simulation/sim_overview.md#setting-up-your-environment).
-To stop, run:
+terminal, please see the Setting up your Environment section of the 
+\ref running-the-sim documentation. To stop, run:
 
     rosrun executive teleop_tool -stop
 
@@ -127,17 +123,7 @@ namespace as we don't support this.
 
 ### Reset Bias
 
-This flag is used to reset the bias. We encode gravity in our bias so if you
-launch the simulator with a world different than the previous world, you will
-have to reset the bias. To do this, run:
-
-    rosrun executive teleop_tool -reset_bias
-
-### Reset Bias
-
-This flag is used to reset the bias. We encode gravity in our bias so if you
-launch the simulator with a world different than the previous world, you will
-have to reset the bias. To do this, run:
+This flag is used to reset the bias. To do this, run:
 
     rosrun executive teleop_tool -reset_bias