Add doc images to dev

prometheus_bringup/launch/traxxas_drive1_kinect.launch

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+<launch>
+
+    <arg name="model" default="" />
+    <arg name="float_cmd_topic" default="" />
+    <arg name="twist_linear_x" default="1" />
+
+    <arg name="twist_dir_topic" default="/android_input_dir"/>
+    <arg name="int_dir_topic" default="/pub_dir"/>
+    <arg name="int_vel_topic" default="/pub_vel"/>
+    <arg name="int_vel_max" default="108"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
+
+    <arg name="image_raw_topic" default="/camera/rgb/image_color"/>
+
+
+    <group if="$(eval arg('model') != '')">
+
+        <include file="$(find physical_bringup)/launch/modules/rosserial.launch" /> 
+
+        <include file="$(find physical_bringup)/launch/modules/driving_cnn1.launch" >
+            <arg name="model" value="$(arg model)"/>
+            <arg name="float_cmd_topic" value="$(arg float_cmd_topic)"/>
+            <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
+            <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+            <arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
+        </include>
+
+        <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
+            <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
+            <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
+            <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
+            <arg name="int_vel_max" value="$(arg int_vel_max)"/>
+            <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+        </include>
+
+
+        <include file="$(find freenect_launch)/launch/freenect.launch">
+            <arg name="depth_registration" value="true"/>
+        </include>
+
+    </group>
+
+</launch>

prometheus_bringup/launch/traxxas_drive2a_kinect.launch

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+<launch>
+
+    <arg name="model" default="" />
+    <arg name="float_cmd_topic" default="" />
+    <arg name="twist_linear_x" default="1" />
+
+    <arg name="twist_dir_topic" default="/android_input_dir"/>
+    <arg name="int_dir_topic" default="/pub_dir"/>
+    <arg name="int_vel_topic" default="/pub_vel"/>
+    <arg name="int_vel_max" default="108"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
+
+     <arg name="image_raw_topic" default="/camera/rgb/image_color"/>
+
+    <group if="$(eval arg('model') != '')">
+
+        <include file="$(find physical_bringup)/launch/modules/rosserial.launch" />
+
+        <include file="$(find physical_bringup)/launch/modules/driving_cnn2a.launch" >
+            <arg name="model" value="$(arg model)"/>
+            <arg name="float_cmd_topic" value="$(arg float_cmd_topic)"/>
+            <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
+            <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+            <arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
+        </include>
+
+        <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
+            <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
+            <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
+            <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
+            <arg name="int_vel_max" value="$(arg int_vel_max)"/>
+            <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+        </include>
+
+        <include file="$(find freenect_launch)/launch/freenect.launch">
+            <arg name="depth_registration" value="true"/>
+        </include>
+
+    </group>
+
+</launch>

prometheus_bringup/launch/traxxas_drive_write_kinect.launch

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+<launch>
+
+    <arg name="folder" default="set1"/>
+    <arg name="twist_cmd_topic" default="/android_input_dir"/>
+    <arg name="twist_dir_topic" default="/android_input_dir"/>
+    <arg name="int_dir_topic" default="/pub_dir"/>
+    <arg name="int_vel_topic" default="/pub_vel"/>
+    <arg name="int_vel_max" default="102"/>
+    <arg name="vel_cmd_topic" default="/android_input_vel"/>
+    <arg name="bool_btn_topic" default="/android_input_velin"/>
+
+    <arg name="camera_topic" default="/camera/rgb/image_color"/>
+    <arg name="int_camera_id" default="2"/> 
+
+    <include file="$(find physical_bringup)/launch/modules/rosserial.launch" /> 
+
+    <include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
+        <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
+        <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
+        <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
+        <arg name="int_vel_max" value="$(arg int_vel_max)"/>
+        <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+        <arg name="bool_btn_topic" value="$(arg bool_btn_topic)"/>
+    </include>
+
+    <!--<include file="$(find physical_bringup)/launch/modules/usb_cam.launch" />-->
+
+    <include file="$(find freenect_launch)/launch/freenect.launch">
+        <arg name="depth_registration" value="true"/>
+    </include>
+
+    <include file="$(find physical_bringup)/launch/modules/write_cnn.launch" >
+        <arg name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
+        <arg name="image_raw_topic" value="$(arg camera_topic)"/>
+        <arg name="folder" value="$(arg folder)"/>
+        <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+    </include>
+
+</launch>

prometheus_bringup/launch/traxxas_free_drive_kinectic.launch

@@ -0,0 +1,27 @@
+<launch>
+<arg name="twist_dir_topic" default="/android_input_dir"/>
+<arg name="int_dir_topic" default="/pub_dir"/>
+<arg name="int_vel_topic" default="/pub_vel"/>
+<arg name="int_vel_max" default="108"/>
+<arg name="vel_cmd_topic" default="/android_input_vel"/>
+<arg name="bool_btn_topic" default="/android_input_velin"/>
+
+<arg name="camera_topic" default="/real_camera"/>
+<arg name="int_camera_id" default="2"/>
+
+<include file="$(find physical_bringup)/launch/modules/rosserial.launch" />
+
+<include file="$(find physical_bringup)/launch/modules/android_conversor.launch">
+    <arg name="twist_dir_topic" value="$(arg twist_dir_topic)"/>
+    <arg name="int_dir_topic" value="$(arg int_dir_topic)"/>
+    <arg name="int_vel_topic" value="$(arg int_vel_topic)"/>
+    <arg name="int_vel_max" value="$(arg int_vel_max)"/>
+    <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
+    <arg name="bool_btn_topic" value="$(arg bool_btn_topic)"/>
+</include>
+
+<include file="$(find freenect_launch)/launch/freenect.launch">
+    <arg name="depth_registration" value="true"/>
+</include>
+
+</launch>

prometheus_gazebo/description/models/obstacle/model.config

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+<model> 
+  <name>obstacle</name> 
+  <version>1.0</version> 
+  <sdf version="1.4">
+    obstacle.sdf
+  </sdf>	
+  <description>
+    green obstacle
+  </description>
+</model>

prometheus_gazebo/description/models/obstacle/obstacle.sdf

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<sdf version ='1.4'>
+  <model name ='obstacle'>
+    <pose>1 0 0 0 0 0</pose>
+    <link name ='main_link'>
+      <pose>0 0 .5 0 0 0</pose>
+      <collision name ='collision'>
+        <geometry>
+          <box>
+            <size>0.6 0.6 0.3</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name ='visual'>
+        <geometry>
+          <box>
+            <size>0.6 0.6 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Green</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>