Added guide to index.rst & fixed numbering

docs/software/gazebo_guide.md

@@ -1,10 +1,13 @@
-# What is Gazebo?
+# Gazebo Guide
+This is a simple guide on how to use Gazebo, including launching the sub and viewing it inside Gazebo, how Gazebo can be controlled and manipulated, how to use Gazebo to make world files, and where you can find more info on Gazebo.
+
+## What is Gazebo?
 
 Gazebo is an open-source 3D dynamic simulator, that allows us to design, model, and test robots and their behavior in a virtual world. Similar to game engines like Unity, Gazebo takes in scripts and models and performs physics simulations on them. While it is similar, Gazebo offers physics simulations at a higher level of fidelity, a suite of sensors, and interfaces for both users and programs.
 
 There are many versions of Gazebo, but this guide was written for **Gazebo Classic 11** as this is the version of Gazebo currently being used at MIL (Machine Intelligence Lab).
 
-## How To Run Gazebo?
+### How To Run Gazebo?
 
 There are many ways run Gazebo.
 
@@ -17,31 +20,35 @@ There are many ways run Gazebo.
 To launch Gazebo will all the necessary files for simulating Subjugator, follow these steps:
 
 1. Open a terminal window and execute the following command. This command uses ROS to start all the relevant ROS nodes and to load the world file for subjugator. This also starts a Gazebo Sever.
-```bash
-roslaunch subjugator_launch gazebo.launch --screen
-```
-:::{note}
--\-screen just forces all ROS node output to the screen. It is used for debugging.
-:::
+
+    ```bash
+    roslaunch subjugator_launch gazebo.launch --screen
+    ```
+    :::{note}
+    -\-screen just forces all ROS node output to the screen. It is used for debugging.
+    :::
 
 2. Then in another terminal window run this command to start the Gazebo graphical client, which connects to the Gazebo Sever.
-```bash
-gazebogui
-```
+
+    ```bash
+    gazebogui
+    ```
 
 3. Then in another terminal window run this command and then press Shift C to unkill the sub to allow movement.
- ```bash
-amonitor kill
-```
 
- 4. Execute the following command to start a specific mission, replacing "StartGate2022" with the name of the desired mission:
- ```bash
-mission run StartGate2022
-```
+    ```bash
+    amonitor kill
+    ```
 
-# How to use Gazebo
+4. Execute the following command to start a specific mission, replacing "StartGate2022" with the name of the desired mission:
 
-## User Interface
+    ```bash
+    mission run StartGate2022
+    ```
+
+## How to use Gazebo
+
+### User Interface
 
 When you launch Gazebo you will be greeted by its user interface.
 
@@ -51,57 +58,57 @@ The Gazebo interface consists of three main sections: The **Left Panel**, the **
 
 ![Gazebo Labeled Interface](/software/Gazebo/Labeled_Interface.png)
 
-### Left Panel
+#### Left Panel
 
 The Left Panel has three tabs, each with different features. You can see these tabs at the top of the Left Panel. You can just click on them to switch between them. The tabs are:
 
-#### World Tab
+##### World Tab
 
 The World Tab displays the models that are currently in the scene. Within this tab, you can view and modify various model parameters, like their pose (their position and rotation). Additionally, you can expand the GUI option to adjust the camera view angle by modifying the camera pose.
 
-#### Insert Tab
+##### Insert Tab
 
 The Insert Tab allows you to add new models (objects) to the Gazebo simulation. Here, you will find a list of file paths where your models are saved. To view the model list, click on the arrow located on the left side of each path to expand the folder. Select the desired model and click again in the scene to place it.
 
-#### Layers Tab
+##### Layers Tab
 
 The Layers tab organizes and displays different visualization groups within the simulation. Layers can contain one or more models, and enabling or disabling a layer will show or hide all the models within it. While not mandatory, layers can be helpful for organizing your simulation. Note that this tab may be empty if no layers are defined.
 
-### Scene
+#### Scene
 
 The Scene is the main window where objects are animated, and you interact with the environment. Two toolbars are available:
 
-#### The Upper Toolbar
+##### The Upper Toolbar
 
 The Upper Toolbar consists of various buttons that allow you to select, move, rotate, and scale objects. It also provides options to create simple shapes, as well as copy and paste objects.
 
 ![Gazebo Upper Toolbar](/software/Gazebo/Upper_Toolbar.png)
 
-#### The Bottom Toolbar
+##### The Bottom Toolbar
 
 The Bottom Toolbar displays information about the simulation time and its relationship to real time. It helps you track the progress of your simulation.
 
 ![Gazebo Bottom Toolbar](/software/Gazebo/Bottom_Toolbar.png)
 
-### Right Panel
+#### Right Panel
 
 The Right Panel is used to interact with the mobile parts (joints) of a selected model. It provides controls and settings specific to manipulating the joints of a model.
 
-### Menus (File, Edit, Camera, View, Window, Help)
+#### Menus (File, Edit, Camera, View, Window, Help)
 
 Most Linux apps have menus. If you don't see it move your cursor to the top of the application window and the menus should appear. Below describes the features of each menu.
 
 ![Gazebo Menus](/software/Gazebo/Menus.png)
 
-### Mouse
+#### Mouse
 
 It is recommended that you use a mouse when using Gazebo. Below is a diagram showing all the mouse controls.
 
 ![Gazebo Mouse Controls](/software/Gazebo/Mouse.png)
 
 
 
-## Model Creation
+### Model Creation
 You can use the **Model Editor** to create simple models all within Gazebo, but for more complex models you will want to create/write your own SDF files.
 
 To enter the **Model Editor**, click on Edit in the menu bar and select Model Editor.
@@ -111,7 +118,7 @@ The Model Editor Interface looks similar to the regular Gazebo UI with some slig
 ![Gazebo Model Editor](/software/Gazebo/Model_Editor.png)
 
 
-### Insert Tab
+#### Insert Tab
 
 The Insert Tab allows you to add new parts, including links and models, to your model. You have two options for inserting shapes (links):
 
@@ -121,15 +128,15 @@ The Insert Tab allows you to add new parts, including links and models, to your
 
 You can also insert other models into your model as nested models. These models can be obtained from the Gazebo Model Database (http://gazebosim.org/models/), which should be listed as one of your file paths under Model Databases. For example, if you need a depth sensor, you can add a depth sensor model from the database to your model.
 
-### Model Tab
+#### Model Tab
 
 The Model Tab displays the settings for the model you are creating. Here, you can change the model's name and modify its basic parameters. Additionally, you can add plugins to give your model functionality here as well.
 
-### Placing Shapes
+#### Placing Shapes
 
 Once you insert a shape, you can use the toolbar to move, rotate, and scale it. For finer control, you can double-click the shape or right-click and select "Open Link Inspector" to access the link inspector. In the link inspector, you can modify the shape's position, rotation, and scale to achieve the desired configuration. Make sure to adjust the scale in both the Visual and Collision tabs.
 
-### Adding Joints
+#### Adding Joints
 
 To constrain the motion between shapes, you can add joints. Follow these steps:
 
@@ -143,13 +150,13 @@ To constrain the motion between shapes, you can add joints. Follow these steps:
 
 * Align the link (shape). Use the align links section to align the parent and the child with each other.
 
-### Adding a Plugin
+#### Adding a Plugin
 
 To control your model, you need to create a plugin. You can do this in the Model Tab by specifying the necessary details for the plugin.
 
 You can find more information on how to create your own custom plugins here https://classic.gazebosim.org/tutorials?tut=ros_gzplugins
 
-### Model Creation Workflow Example
+#### Model Creation Workflow Example
 
 To illustrate the model creation process, let's consider creating a car model using Blender:
 
@@ -163,7 +170,7 @@ To illustrate the model creation process, let's consider creating a car model us
 
 * Finally, create a plugin to control the model's behavior.
 
-## World File
+### World File
 
 A World in Gazebo is used to describe the collection of robots and objects, and global parameters like the sky, ambient light, and physics properties. Basically, a World is the entire virtual environment that you have been working in. The World stores important information like where all the models are, their properties, and important global properties.
 
@@ -173,7 +180,7 @@ You can save the World file by selecting File and Save World As.
 When using roslaunch to start Gazebo, it is crucial to update the World file if you make any changes to the simulation environment. At MIL, there is a dedicated "worlds" folder where Gazebo World files are saved. When you update a World file, ensure that you replace the old file in this folder. Failing to do so will result in the continued use of the old World file when launching Gazebo using roslaunch.
 :::
 
-# More Info
+## More Info
 
 If you ever need more information on how any aspect of Gazebo works or how to use ROS with Gazebo you can check out the official Gazebo Documentation here: https://classic.gazebosim.org/tutorials.
 Note that most of the pictures and information used in this guide are sourced from there.

docs/software/index.rst

@@ -26,3 +26,4 @@ Various documentation related to practices followed by the MIL Software team.
    Developing with Submodules <submodule.md>
    Optional Extensions <extension_support.md>
    Helpful Scripts <scripts>
+   Gazebo Guide <gazebo_guide.md>