vanttec · Josecisneros001 · Feb 1, 2023
@@ -1,2 +1,94 @@
 Planning
 ========
+
+Source Code: `Repository <https://github.com/vanttec/sdv_planner_simulation>`__
+===============================================================================
+
+Packages info
+=============
+
+-  ackermann_drive_controller - the source code for the kinematics
+   controller for Ackermann vehicles
+-  beetle_description - contains the vehicle simulation model
+-  beetle_gazebo - kinematics simulator and controller
+-  simulation - Contains a Gazebo World for planning testing
+-  beetle_navigation2 - vehicle software system and parameters
+
++-----------------------------------------------------------------------+
+| # Installation                                                        |
++-----------------------------------------------------------------------+
+| Docker Image Available. Follow                                        |
+| `Readme.md <https                                                     |
+| ://github.com/vanttec/sdv_planner_simulation/blob/main/README.md>`__. |
++-----------------------------------------------------------------------+
+
+How to Run?
+===========
+
+[Separate for Debugging]
+------------------------
+
+-  .. rubric:: Simulation & RVIZ
+      :name: simulation-rviz
+
+   ros2 launch simulation simulation.launch.py
+
+-  .. rubric:: Navigation
+      :name: navigation
+
+   ros2 launch beetle_navigation2 nav.launch.py
+
+[Whole System]
+--------------
+
+-  .. rubric:: Simulation & RVIZ & Navigation
+      :name: simulation-rviz-navigation
+
+   ros2 launch beetle_navigation2 bringup.launch.py
+
+[Utils]
+-------
+
+-  .. rubric:: Build Packages:
+      :name: build-packages
+
+   colcon build
+
+-  .. rubric:: See TF Tree:
+      :name: see-tf-tree
+
+   .. rubric:: ros2 run rqt_tf_tree rqt_tf_tree
+      :name: ros2-run-rqt_tf_tree-rqt_tf_tree
+
+Planning Information:
+=====================
+
+All params related to navigation are defined in:
+`beetle_navigation2/config/navigation_params.yaml <https://github.com/vanttec/sdv_planner_simulation_beetle/blob/6a9631b8b11734b241b051f2f9c27626d6ab5927/beetle_navigation2/config/navigation_params.yaml>`__
+
+-  bt_navigator - General NavStack Configuration
+-  controller_server - Server for handling the controller requests
+-  local_costmap - Dynamic Obstacles Avoidance using PointCloud input.
+-  global_costmap - Static Obstacle Avoidance using a pre-mapped
+   environment.
+-  map_server - Load a pre-mapped environment.
+-  map_saver - Save a mapped environment.
+-  planner_server - Motion Planning Algorithm
+
+   -  “DUBIN” motion model doesn’t allow reverse.
+   -  “REEDS_SHEPP” motion model allows forward and reverse.
+
+-  smoother_server - Handling smooth path requests
+-  behavior_server - Handling recovery behavior requests
+-  robot_state_publisher - SDV TF publisher.
+-  waypoint_follower - Waypoint following using the NavigateToPose
+   action server
+-  velocity_smoother - Velocity, acceleration, and deadband smoothing
+   from Nav2 to reduce wear-and-tear on robot motors and hardware
+   controllers.
+-  ekf_filter_node_odom - Odom Extended Kalman Filter
+-  ekf_filter_node_map - Map Extended Kalman Filter
+-  navsat_transform - Odom Generation using Imu and GPS.
+-  controller_manager - Gazebo Simulated Physical controllers
+-  ackermann_drive_base_controller - ackermann_drive_controller package
+   configurations.