small changes, adding course content

johnny555 · Nov 3, 2023 · 6cde70d · 6cde70d
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diff --git a/course/day3.md b/course/day3.md
@@ -15,7 +15,11 @@ Gazebo is like the world, and this robot is now like a remote controlled car. Yo
 
 ## Take some time to play with the simulation. 
 
-Notice the number in the bottom right of the screen, this number is the real-time percentage of your simulation. If its at or near 100% this means that the simulation is running at realtime, if its less than 100% then the simulation is running slower than real time. For example, 30% means every 3 real world seconds, only 1 second elapses in the simulated world. It should be running pretty fast right now, but tomorrow it will be different.
+Notice the number in the bottom right of the screen, this number is the real-time percentage of your simulation. 
+
+If its at or near 100% this means that the simulation is running at realtime, if its less than 100% 
+then the simulation is running slower than real time. For example, 30% means every 3 real world seconds, only 1 second elapses in the simulated world. It should be running pretty fast right now, but tomorrow it will be different.
+
 That's all I wanted to show you today, but if you want to dive a little deeper, there are two other things I'd like to highlight. 
 
 # Launching Your Robot System

diff --git a/course/day4.md b/course/day4.md
@@ -0,0 +1 @@
+
diff --git a/src/start_creating_robots/launch/mapping.launch.py b/src/start_creating_robots/launch/mapping.launch.py
@@ -8,6 +8,7 @@
 
 from os.path import join
 
+
 def generate_launch_description():
     # This allows us to have the with_sensors as an argument on the command line
     rviz_config_arg =  DeclareLaunchArgument(
@@ -25,7 +26,8 @@ def generate_launch_description():
                                       launch_arguments=[('with_sensors','true')])
 
     # Extended Gazebo Bridge: To do mapping requires alot more info from the simulation. We need sensor data and estimates of the robot joint positions.
-    extended_bridge = Node( package='ros_gz_bridge', name="extended_gazebo_bridge", executable='parameter_bridge', arguments=['/model/krytn/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry',
+    extended_bridge = Node( package='ros_gz_bridge', name="extended_gazebo_bridge", executable='parameter_bridge', 
+    arguments=['/model/krytn/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry',
                    '/model/krytn/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
 
                    '/lidar@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
@@ -37,19 +39,31 @@ def generate_launch_description():
 
                    '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
 
-                   '/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model'], output='screen', remappings=[('/model/krytn/odometry','/odom'),
+                   '/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model'], 
+                   output='screen', remappings=[('/model/krytn/odometry','/odom'),
                     ('/model/krytn/tf','/tf')]
     )
 
     # Gazebo fortress has a bug that won't respect our frame_id tags. So we have to publish a transform 
-    depth_cam_link_tf = Node(package='tf2_ros', executable='static_transform_publisher', name='depthCamLinkTF', output='log', arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'realsense_d435', 'krytn/base_footprint/realsense_d435'])
+    depth_cam_link_tf = Node(package='tf2_ros', 
+                             executable='static_transform_publisher', 
+                             name='depthCamLinkTF', 
+                             output='log', 
+                             arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 
+                             'realsense_d435', 'krytn/base_footprint/realsense_d435'])
 
-    krytn_base_fp_link_tf = Node(package='tf2_ros', executable='static_transform_publisher', name='base_fp_linkTF', output='log', arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0',  'krytn/base_footprint', 'base_footprint'])
+    krytn_base_fp_link_tf = Node(package='tf2_ros', 
+                                 executable='static_transform_publisher', 
+                                 name='base_fp_linkTF', 
+                                 output='log', 
+                                 arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0',  'krytn/base_footprint', 'base_footprint'])
 
     # SLAM Toolbox for mapping
-    slam_toolbox = Node( package='slam_toolbox', executable='async_slam_toolbox_node', parameters=[
-            get_package_share_directory('start_creating_robots') + '/config/mapping.yaml'
-        ], output='screen'
+    slam_toolbox = Node( package='slam_toolbox', 
+                         executable='async_slam_toolbox_node', 
+                         parameters=[
+                                get_package_share_directory('start_creating_robots') + '/config/mapping.yaml'
+                        ], output='screen'
     )
 
     rviz = Node(