Welcome to the main documentation on the |m4| exoskeleton. Whether you are an experienced ROS developer or have recently started learning, these tutorials contain all knowledge required to work with and develop the |m4| exoskeleton.
In order to follow the tutorials, we expect you to have at least some knowledge of the following tools:
- Ubuntu 16.04
- Linux command line
- Git
In case you are not comfortable with the above tools, please take some time to check the following references:
The tutorials are designed to provide hands-on experience with ROS and the |m4| exoskeleton. Here is an overview of the different types of tutorials.
A selection of existing ROS tools to speed up development.
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).
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 doc/getting_started/intro_to_ros
.. toctree:: :caption: Useful ROS tools :maxdepth: 2 :hidden: doc/useful_ros_tools/robot_model doc/useful_ros_tools/ros_bag
.. toctree:: :caption: Using the March IV :maxdepth: 2 :hidden: doc/using_the_march_iv/high_level_overview doc/using_the_march_iv/connecting_to_the_exoskeleton doc/using_the_march_iv/how_to_airgait doc/using_the_march_iv/how_to_report_bugs doc/using_the_march_iv/log_files
.. toctree:: :caption: Development :maxdepth: 3 :hidden: doc/development/documentation doc/continuous_integration/continuous_integration
.. toctree:: :caption: March Packages :maxdepth: 4 :hidden: doc/march_packages/march_hardware_builder doc/march_packages/march_rqt_launch_menu doc/march_packages/march_input_device