Updates on the gravity compensation and troubleshooting

docs/ros2_packages/gravity_compensation.rst

@@ -23,11 +23,62 @@ This feature is useful when we use the arm as a teleoperation remote or when we
 
     Currently supported arms include: WidowX-250 6DOF and ALOHA WidowX-250 6DOF.
 
+Structure
+=========
+
+.. image:: images/xsarm_gravity_compensation_flowchart_ros2.png
+    :align: center
+
+As shown above, the `interbotix_xsarm_gravity_compensation` package builds on top of the `interbotix_xsarm_control` package whose details are given :doc:`here <./arm_control>`.
+
+This package contains a single node called **gravity_compensation**.
+It subscribes to the ``/<robot_name>/joint_states`` topic, computes and publishes the desired current commands to the ``/<robot_name>/commands/joint_group`` topic.
+Please refer to the `interbotix_gravity_compensation`_ repository for more details on its derivations and implementation.
+
+.. _`interbotix_gravity_compensation`: https://github.com/Interbotix/interbotix_ros_toolboxes/tree/humble/interbotix_common_toolbox/interbotix_gravity_compensation
+
+Usage
+=====
+
+Run the following launch command, assuming the Aloha WidowX-250 arm is being used:
+
+.. code-block:: console
+
+    $ ros2 launch interbotix_xsarm_gravity_compensation interbotix_gravity_compensation.launch.py robot_model:=aloha_wx250s
+
+It runs the ``gravity_compensation`` node and launches the ``xsarm_control`` script to bring up the arm.
+
+Then, enable/disable the gravity compensation with the following service call:
+
+.. code-block:: console
+
+    $ ros2 service call /aloha_wx250s/gravity_compensation_enable std_srvs/srv/SetBool 'data: [true/false]'
+
+The arm will hold itself against gravity and can be moved freely when the gravity compensation is enabled.
+It will lock in its current position when the gravity compensation is disabled.
+
+.. warning::
+
+    The arm WILL torque off and drop for a short period of time while enabling/disabling.
+    Please make sure it is in a resting position or manually held.
+
+.. warning::
+
+    The joints not supporting current control WILL torque off.
+    Please make sure to use an arm with at least the first three joints supporting current control, e.g., RX, WX, VX series.
+
+This is the bare minimum needed to get up and running. Take a look at the table below to see how to further customize with other launch file arguments.
+
+.. csv-table::
+    :file: ../_data/gravity_compensation.csv
+    :header-rows: 1
+    :widths: 20, 60, 20, 20
+
 Configuration
 =============
 
 The **motor_specs.yaml** contains the motor specifications and options for motor assistance and dithering.
-A template file is given below
+Please check out the template file below for more details.
 
 .. code-block:: yaml
 
@@ -114,54 +165,3 @@ A template file is given below
 
     Excessive dithering WILL cause heat and wear on the joints.
     Please use it with caution.
-
-Structure
-=========
-
-.. image:: images/xsarm_gravity_compensation_flowchart_ros2.png
-    :align: center
-
-As shown above, the `interbotix_xsarm_gravity_compensation` package builds on top of the `interbotix_xsarm_control` package whose details are given :doc:`here <./arm_control>`.
-
-This package contains a single node called **gravity_compensation**.
-It subscribes to the ``/<robot_name>/joint_states`` topic, computes and publishes the desired current commands to the ``/<robot_name>/commands/joint_group`` topic.
-Please refer to the `interbotix_gravity_compensation`_ repository for more details on its derivations and implementation.
-
-.. _`interbotix_gravity_compensation`: https://github.com/Interbotix/interbotix_ros_toolboxes/tree/humble/interbotix_common_toolbox/interbotix_gravity_compensation
-
-Usage
-=====
-
-Run the following launch command, assuming the Aloha WidowX-250 arm is being used:
-
-.. code-block:: console
-
-    $ ros2 launch interbotix_xsarm_gravity_compensation interbotix_gravity_compensation.launch.py robot_model:=aloha_wx250s
-
-It runs the ``gravity_compensation`` node and launches the ``xsarm_control`` script to bring up the arm.
-
-Then, enable/disable the gravity compensation with the following service call:
-
-.. code-block:: console
-
-    $ ros2 service call /aloha_wx250s/gravity_compensation_enable std_srvs/srv/SetBool 'data: [true/false]'
-
-The arm will hold itself against gravity and can be moved freely when the gravity compensation is enabled.
-It will lock in its current position when the gravity compensation is disabled.
-
-.. warning::
-
-    The arm WILL torque off and drop for a short period of time while enabling/disabling.
-    Please make sure it is in a resting position or manually held.
-
-.. warning::
-
-    The joints not supporting current control WILL torque off.
-    Please make sure to use an arm with at least the first three joints supporting current control, e.g., RX, WX, VX series.
-
-This is the bare minimum needed to get up and running. Take a look at the table below to see how to further customize with other launch file arguments.
-
-.. csv-table::
-    :file: ../_data/gravity_compensation.csv
-    :header-rows: 1
-    :widths: 20, 60, 20, 20

docs/troubleshooting.rst

@@ -13,6 +13,11 @@ your own issue`_.
     20.04, ROS 2 Galactic on Ubuntu 20.04, and ROS 2 Humble, not on any other operating system (ex.
     Mac, Windows), or in a virtual machine.
 
+.. important::
+
+    This guide assumes that the latest version of the software packages is used.
+    Before proceeding, please check that they are up to date.
+
 .. _`interbotix_ros_manipulators bug tracker`: https://github.com/Interbotix/interbotix_ros_manipulators/issues?q=is%3Aissue
 .. _`open your own issue`: https://github.com/Interbotix/interbotix_ros_manipulators/issues/new/choose