docs/1_ASSEMBLY.md

@@ -21,7 +21,7 @@ In addition you will need the following tools:
 * Solder wire
 * Heat shrink tube
 * Some wires
-* Battery connectors (fitting your battery)
+* Battery connectors (female)
 * Velcro tape
 * Self adhesive tape
 * Isolation tape
@@ -68,7 +68,7 @@ In the next step we connect the battery connector pins of the battery shield to
 | Heat the shrink tube with a lighter  |  ![I see fire](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_6.jpeg) |
 | This is how the battery shield should look like with the two wires           |  ![Two wires with heat shrink](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/motor_battery_stack_6.5.jpeg) |
 
-- Next, we create a connector for the battery. In my case the battery had a male JST 2-Pin connector, so I soldered a female JST 2-Pin connector for plugin it in: 
+- Next, we create a connector for the female JST 2-Pin connector for plugin in the battery: 
 
 | Description | Image|
 |--------------|---------------|

docs/3_ROBOT_SETUP.md

@@ -123,7 +123,7 @@ You can control the robot by sending commands to the robot as a string containin
 Have a look at the `keyboard_controller.py` script to see how this works in python.
 
 ### Isolating the electronics
-Since the mounting plates of the robot are made of metal it is a good idea to put some isolation around the electronics. You can use some isolation tape to cover the exposed pins:
+Since the mounting plates of the robot are made of metal it is a good idea to put some isolation around the electronics. You can use some isolation tape to cover the exposed connections:
 
 ![Isolation tape](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/isolation_tape_2.JPG)
 You can also add some velcro tape to the electronics, the battery and the robot to easily attach and remove the microcontroller from the robot.

docs/4_ROS_SETUP.md

@@ -121,7 +121,7 @@ $ roscore
 - Plug in the camera and start the camera node:
 ```
 $ rosparam set cv_camera/device_id 0 # make sure to set the correct device id for your camera!
-$ rosrun cv_camera cv_camera_node
+$ roslauch cv_camera cv_camera_node
 ```
 
 - Optional: Check if the camera works correctly;
@@ -142,7 +142,6 @@ $ roslaunch aruco_detect aruco_detect.launch camera:=cv_camera image:=image_raw
 $ rosrun image_view image_view image:=/fiducial_images
 ```
 Place a marker in the field of view of the camera and check if it gets correctly detected by the image detection, i.e. there is a border around the square of the marker and arrows indicating its orientation. 
-
 ![fiducial_images output](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/image_view_3.jpg)
 ![fiducial_images output](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/image_view_4.jpg)
 If the marker is not detected correctly, please check that you are using the correct dictionary, that you camera was calibrated and that you are launching the `aruco_detect` node with the correct parameters

fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py

@@ -1,7 +1,7 @@
 import sys
 import rospy
 
-from fiducial_transform.msg import id_pos_angle
+from marker_pos_angle.msg import id_pos_angle
 from fiducial_msgs.msg import FiducialTransformArray
 from tf.transformations import euler_from_quaternion