0.1.0 aligned docs

Author: gbr1

README.md

@@ -15,6 +15,7 @@ Documentation about UP Create® 3, how to setup, add-ons and how-to tutorials.
 - [UP Create® 3 architecture](./docs/upcreate3/ros2_intro.md)
 - [ROS2 installation](./docs/up2v2_setup/ros2.md)
 - [setup all UP Create® 3 ROS2 packages](./docs/upcreate3/prepare_ros2_environment.md)
+- [use your UP Create® 3](./docs/upcreate3/run_the_robot.md)
 
 ![ros2](./docs/schemes/ros2_architecture.drawio.png)
 
@@ -23,7 +24,7 @@ Documentation about UP Create® 3, how to setup, add-ons and how-to tutorials.
 - [Code Server](./docs/utilities/code_server.md), develop software on UP Create® 3 with zero installation on client side
 - [Joypad](./docs/utilities/joypad.md), use a joypad to control the robot
 - [ROSboard](./docs/utilities/rosboard.md), use a webgui to watch data in Real-Time
-- [todo: FoxGlove](./docs/utilities/foxglove.md), a remote interface available on web, linux, macos and windows
+<!-- - [todo: FoxGlove](./docs/utilities/foxglove.md), a remote interface available on web, linux, macos and windows -->
 - [GitHub CLI](./docs/utilities/github_cli.md), use github on your robot
 
 ## Architecture

docs/get_started.md

@@ -12,7 +12,10 @@
 ## Let's play!
 
 7. [Install ROS2 packages](./upcreate3/prepare_ros2_environment.md)
-8. [play](), coming soon
+8. [Play with UP Create 3](./upcreate3/run_the_robot.md)
+9. [Teleop with a joypad](./upcreate3/ros2_joy_teleop.md)
+9. [Autonomous exploration](./upcreate3/explore.md)
+
 
 
 <br>

docs/images/nav2_rviz.png

@@ -0,0 +1,32 @@
+# Autonomous exploration with UP Create® 3
+
+***NOTE:*** this is a WIP page
+
+The autonomous exploration relies on explore_lite in the m-explore package.
+
+To install it just:
+```bash
+cd ~/dev_ws/src
+git clone https://github.com/robo-friends/m-explore-ros2
+cd ..
+rosdep install -i --from-path src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+```
+
+A parameters file is present in upcreate3_navigation package and it is ready to use.
+
+To run autonomous exploration just run the following command after the bringup:
+
+```bash
+ros2 run explore_lite explore --ros-args --params-file <full-path-to-workspace>/dev_ws/src/upcreate3_robot/upcreate3_navigation/config/explore.yaml
+```
+
+The robot will start an environment exploration. When full discovered will be back to the starting point.
+
+---
+*KNOW ISSUES:*
+- /global_coastmap/costmap topic is used instead /rtabmap/map because rtabmap not publish /rtabmap/map_updates
+
+
+>Copyrights © 2022 G. Bruno gbr1.github.io under MIT License

docs/upcreate3/explore.md

@@ -0,0 +1,22 @@
+# Joy Teleop with UP Create® 3
+
+In upcreate3_control package, you can find joy.launch.py launch file. It allows to run all the things you need to use a remote joypad on you robot.
+
+
+To start joy teleop, you need to launch the following command after the bringup one:
+```bash
+ros2 launch upcreate3_control joy.launch.py
+```
+
+<br>
+<br>
+
+Configurations are based on Logitech F710 controller and are the typical teleop_twist_joy keys.
+
+To check your joypad keys, use this [guide](../utilities/joypad.md).
+
+<br>
+<br>
+<br>
+
+>Copyrights © 2022 G. Bruno gbr1.github.io under MIT License

docs/upcreate3/ros2_joy_teleop.md

@@ -0,0 +1,30 @@
+# Let's play with UP Create® 3
+
+Now you are robot is ready to run!
+
+To start your robot, you need to launch the bringup:
+```bash
+ros2 launch upcreate3_bringup bringup.launch.py
+```
+
+<br>
+<br>
+
+An rviz file is located in upcreate3_navigation package.
+
+It can be useful to take a look at 3d maps, costmaps and play with nav2.
+
+If you set a 2d pose in rviz the robot will reach it.
+
+![nav2_rviz](/docs/images/nav2_rviz.png)
+
+
+
+---
+*KNOW ISSUES:*
+- sometimes ***nav2*** crashes, so restart
+- sometimes the ***rtabmap*** crashes, so restart
+- you can't watch iRobot Create® 3 topics if the robot isn't connected to the WiFi (e.g. /odom can't be looked up across the network)
+
+
+>Copyrights © 2022 G. Bruno gbr1.github.io under MIT License