index.rst

March Tutorials

Welcome to the main documentation on the |march|. Whether you are an experienced ROS developer or have recently started learning, these tutorials contain all knowledge required to work with and develop the |march|.

Requirements

In order to follow the tutorials, we expect you to have at least some knowledge of the following tools:

• Ubuntu 18.04
• Linux command line
• Git

In case you are not comfortable with the above tools, please take some time to check the following references:

• Git & GitHub Crash Course For Beginners
• Using The Terminal

How to use the tutorials

The tutorials are designed to provide hands-on experience with ROS and the |march|. Here is an overview of the different types of tutorials.

Create your workspace

Useful tools

A selection of existing tools to speed up development.

March Packages

This section contains explanation and tutorials at the package level. It is not needed to study all of them to completion, but it is advised to keep them as a reference whenever you want start improving a specific package. This is especially useful when adding more content to a feature (e.g. gaits, launch settings).

Documentation

Attribution

The structure of this documentation is heavily inspired by that of MoveIt!

.. toctree::
   :caption: Getting started
   :maxdepth: 2
   :hidden:

   doc/getting_started/create_your_workspace

.. toctree::
   :caption: Useful tools
   :maxdepth: 2
   :hidden:

   doc/useful_tools/robot_model
   doc/useful_tools/ros_control
   doc/useful_tools/rqt
   doc/useful_tools/ros_bag
   doc/useful_tools/gazebo
   doc/useful_tools/event_stream_processing

.. toctree::
   :caption: Using the March Exoskeleton
   :maxdepth: 2
   :hidden:

   doc/using_the_march_exoskeleton/high_level_overview
   doc/using_the_march_exoskeleton/connecting_to_the_exoskeleton
   doc/using_the_march_exoskeleton/how_to_airgait
   doc/using_the_march_exoskeleton/how_to_view_live_data
   doc/using_the_march_exoskeleton/log_files
   doc/using_the_march_exoskeleton/using_the_gait_generator
   doc/using_the_march_exoskeleton/error_codes
   doc/using_the_march_exoskeleton/using_the_pressure_soles

.. toctree::
   :caption: Development
   :maxdepth: 3
   :hidden:

   doc/development/documentation
   doc/continuous_integration/continuous_integration
   doc/development/testing
   doc/development/style_guide
   doc/development/add_a_new_gait

.. toctree::
  :caption: March Packages
  :maxdepth: 4
  :hidden:

  doc/march_packages/march_data_collector
  doc/march_packages/march_description
  doc/march_packages/march_ems_projects
  doc/march_packages/march_fake_sensor_data
  doc/march_packages/march_gain_scheduling
  doc/march_packages/march_gait_files
  doc/march_packages/march_gait_selection
  doc/march_packages/march_hardware
  doc/march_packages/march_hardware_builder
  doc/march_packages/march_hardware_interface
  doc/march_packages/march_imu_manager
  doc/march_packages/march_input_device
  doc/march_packages/march_launch
  doc/march_packages/march_moveit
  doc/march_packages/march_rqt_input_device
  doc/march_packages/march_safety
  doc/march_packages/march_shared_classes
  doc/march_packages/march_shared_resources
  doc/march_packages/march_simulation