Documentation Updates

- Add page links at the top of each website page
- Add link to draft video to home.md
- Fix links that don't point to files in the docs folder to point to file in GitHub repo
- Add instructions for using run_all.sh script to gear.md
- Add documentation.md to describe file structure and what each of the files are for

docs/gear.md

@@ -1,30 +1,44 @@
-# GEAR Simulation
+# GEAR Simulation <!-- omit in toc -->
+
+## Page Links <!-- omit in toc -->
+- [Home](home.md)
+- [Documentation](documentation.md)
+- [GEAR](gear.md)
+
+## Table of Contents <!-- omit in toc -->
+- [Running GEAR Container](#running-gear-container)
+- [Building & Running Simulation](#building--running-simulation)
+- [Controlling Sample Environment](#controlling-sample-environment)
+  - [Start Competition](#start-competition)
+  - [Controlling Arms](#controlling-arms)
+- [Running Full Simulation](#running-full-simulation)
+  - [Manual Process for Testing](#manual-process-for-testing)
+  - [Semi-Automated Process](#semi-automated-process)
 
 ## Running GEAR Container
 
-1. Go to `docker_env` folder
+1. On your local system, go to `docker_env` folder
    - `cd /PATH/TO/RRRobot/docker_env`
 2. Start GEAR docker container
    - `docker-compose run --rm gear`
 
-## Building & Running Sample Environment
+## Building & Running Simulation
 
 1. Source ROS Setup
    - `source /opt/ros/melodic/setup.bash`
-<!-- 2. Go to rrrobot_ws folder in container
-   - `cd /app/rrrobot_ws`
-3. Build package
-   - `catkin_make clean`
-   - `catkin_make`
-   - `catkin_make install` -->
-2. Run sample environment
-   - `roslaunch osrf_gear sample_environment.launch`
+2. Run Simulation
+   - Sample Environment
+     - `roslaunch osrf_gear sample_environment.launch`
+     - See [controlling sample environment](#controlling-sample-environment) for more information.
+   - Final Simulation
+     - See [running full simulation](#running-full-simulation) for more information.
+
 
 ## Controlling Sample Environment
 
-While sample environment is running, open a new terminal (see tips & tricks section of [home](./home.md)) on the running docker container. The following sections provide a brief overview of the commands that can be used to control various aspects of the simulation. For a full list, check out the [ARIAC 2019 Wiki](https://bitbucket.org/osrf/ariac/wiki/2019/tutorials/gear_interface).
+While sample environment is running, open a new terminal (see tips & tricks section of [home](home.md)) on the running docker container. The following sections provide a brief overview of the commands that can be used to control various aspects of the simulation. For a full list, check out the [ARIAC 2019 Wiki](https://bitbucket.org/osrf/ariac/wiki/2019/tutorials/gear_interface).
 
-[sample_run.sh](../rrrobot_ws/src/gear/sample_run.sh) moves arm 1 over the gasket part, picks it up, moves it to AGV1's tray, drops it, and moves back to the starting position.
+[sample_run.sh](https://github.com/EECS-467-W20-RRRobot-Project/RRRobot/blob/master/src/rrrobot_ws/src/rrrobot/scripts/sample_run.sh) moves arm 1 over the gasket part, picks it up, moves it to AGV1's tray, drops it, and moves back to the starting position.
 
 ### Start Competition
 
@@ -32,14 +46,14 @@ While sample environment is running, open a new terminal (see tips & tricks sect
 
 ### Controlling Arms
 
-#### Gripper
+#### Gripper <!-- omit in toc -->
 
 - Turn gripper suction on
   - `rosservice call /ariac/arm1/gripper/control "enable: true"`
 - Turn gripper suction off
   - `rosservice call /ariac/arm1/gripper/control "enable: false"`
 
-#### Joints
+#### Joints <!-- omit in toc -->
 
 Move `arm1` over a gasket part
 
@@ -86,12 +100,14 @@ rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_
 
 ## Running Full Simulation
 
-### Terminal 1: ARIAC Environment
+### Manual Process for Testing
+
+#### Terminal 1: ARIAC Environment <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws/src/rrrobot/scripts`
 - `./rrrobot_run_no_build.sh`
 
-### Terminal 2: Build RRRobot Package & Arm Controller Node
+#### Terminal 2: Build RRRobot Package & Arm Controller Node <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws`
 - `catkin_make clean`
@@ -99,25 +115,38 @@ rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_
 - `source devel/setup.bash`
 - `rosrun rrrobot arm_controller_node`
 
-### Terminal 3: CV Model
+#### Terminal 3: CV Model <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws/src/rrrobot/src/`
 - `python3 cv_model.py`
 
-### Terminal 4: Depth Camera Node (for getting pick up location)
+#### Terminal 4: Depth Camera Node (for getting pick up location) <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws/`
 - `source devel/setup.bash`
 - `rosrun rrrobot depth_camera_node`
 
-### Terminal 5: Run the main rrrobot node
+#### Terminal 5: Run the main rrrobot node <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws/`
 - `source devel/setup.bash`
 - `rosrun rrrobot rrrobot_node`
 
-### Terminal 6: Run the node to spawn random objects onto the conveyor belt
+#### Terminal 6: Run the node to spawn random objects onto the conveyor belt <!-- omit in toc -->
 
 - `cd /app/rrrobot_ws/`
 - `source devel/setup.bash`
 - `rosrun rrrobot object_spawner_node`
+
+### Semi-Automated Process
+
+#### Terminal 1 <!-- omit in toc -->
+
+In terminal 1, run the script that will build all components and run the nodes. You may need to adjust the sleep times in [run_all.sh](https://github.com/EECS-467-W20-RRRobot-Project/RRRobot/blob/master/src/rrrobot_ws/run_all.sh) based on your system's performance such that there is enough time for each component to finish before proceeding.
+
+- `cd /app/rrrobot_ws/`
+- `./run_all.sh`
+
+#### Terminal 2 <!-- omit in toc -->
+
+When a new item is spawned after the arm drops off the previous item, the conveyor belt must be manually started again using `rosservice call /ariac/conveyor/control "power: 100"` so that the item moves to the depth camera and the process can continue. You can do this in a new terminal since terminal 1 is running all of the simulation nodes.