Rename Folder, Remove Submodules, & GEAR Container

- Update gitignore to ignore build, devel, and install folders in rrrobot_ws
- Remove git submodules
- Rename rrrobot_src to rrrobot_ws indicating that this is a catkin workspace
- Create GEAR docker container
- Move GEAR specific documentation to its own page
- Add link to overleaf report on home page
- Add tips & tricks section to home page

docs/gear.md

@@ -0,0 +1,85 @@
+# GEAR Simulation
+
+## Running GEAR Container
+
+1. 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
+
+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`
+
+## 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).
+
+[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.
+
+### Start Competition
+
+`rosservice call /ariac/start_competition`
+
+### Controlling Arms
+
+#### Gripper
+
+- 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
+
+Move `arm1` over a gasket part
+
+```
+rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
+        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
+     points: [ \
+{time_from_start: {secs: 2}, \
+        positions: [0.15, 3.14,  -1.570,  2.14, 3.1, -1.59, 0.126]}, \
+{time_from_start: {secs: 4}, \
+        positions: [-0.35, 3.14,  -0.6,  2.3, 3.0, -1.59, 0.126]}, \
+{time_from_start: {secs: 6}, \
+        positions: [-0.35, 3.14,  -0.5,  2.3, 3.05, -1.59, 0.126]}, \
+]}" -1
+```
+
+Move part to `AGV1`'s tray
+
+```
+rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
+        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
+     points: [ \
+{time_from_start: {secs: 2}, \
+        positions: [0.0, 3.14,  -1.570,  2.14, 3.27, -1.51, 0.0]}, \
+{time_from_start: {secs: 5}, \
+        positions: [1.0, 1.85,  0,  -0.38, 1.57, -1.51, 0.00]}, \
+{time_from_start: {secs: 7}, \
+        positions: [1.0, 1.507,  0,  -0.38, 0.38, -1.51, 0.00]}, \
+{time_from_start: {secs: 10}, \
+        positions: [1.18, 1.507,  0.38,  -0.38, 1.55, 1.75, 0.127]}, \
+]}" -1
+```
+
+Return to starting position
+
+```
+rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
+        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
+     points: [ \
+{time_from_start: {secs: 5}, \
+        positions: [0.0, 3.14,  -1.570,  2.14, 3.27, -1.51, 0.0]}, \
+]}" -1
+```