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[DOCS] Translating Robotics docs from rst to md
Co-authored-by: Sebastian Golebiewski <[email protected]> Co-authored-by: Siew Wei Low <[email protected]> Apply suggestions from code review Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/packages/mc_gateway.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/packages/mc_gateway.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]> Update robotics-ai-suite/docs/embodied/sample_pipelines/llm_robotics.md Co-authored-by: Sebastian Golebiewski <[email protected]>
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‎robotics-ai-suite/docs/embodied/packages/mc_gateway.md‎

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@@ -37,8 +37,7 @@ This tutorial monitors and controls the RRBot, a double inverted pendulum robots
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```bash
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$ sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf rt-data-agent ros-jazzy-controller-manager ros-jazzy-rrbot-bringup ros-jazzy-rrbot-moveit-demo
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sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf rt-data-agent ros-jazzy-controller-manager ros-jazzy-rrbot-bringup ros-jazzy-rrbot-moveit-demo
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```
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#. Open a terminal and run the PLCopen IEC-61131-3 motion-control driver:
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```bash
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$ isolcpus=$(cat /sys/devices/system/cpu/isolated)
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$ sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_rrbot
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isolcpus=$(cat /sys/devices/system/cpu/isolated)
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sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_rrbot
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```
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**Note**: By default, ECI isolates CPU cores 1 & 3 (see :doc:`Real-Time Linux <../installation_setup/installation/rt_linux>`).
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#. Open a second terminal with elevated permissions:
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```bash
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$ sudo -i
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sudo -i
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```
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#. In the second terminal, set up the ROS2 environment and run the RRBot ROS2 demo:
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```bash
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$ source /opt/ros/jazzy/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 launch rrbot_bringup rrbot_moveit_demo.launch.py
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 launch rrbot_bringup rrbot_moveit_demo.launch.py
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```
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:::
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:::{tab-item} **Humble**
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```bash
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$ source /opt/ros/humble/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 launch rrbot_bringup rrbot_moveit_demo.launch.py
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source /opt/ros/humble/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 launch rrbot_bringup rrbot_moveit_demo.launch.py
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```
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```bash
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$ sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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$ sudo apt install ros-jazzy-run-hiwin-plc
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$ sudo apt install ros-jazzy-run-hiwin-moveit
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sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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sudo apt install ros-jazzy-run-hiwin-plc
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sudo apt install ros-jazzy-run-hiwin-moveit
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```
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```bash
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$ sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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$ sudo apt install ros-humble-run-hiwin-plc
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$ sudo apt install ros-humble-run-hiwin-moveit
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sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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sudo apt install ros-humble-run-hiwin-plc
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sudo apt install ros-humble-run-hiwin-moveit
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```
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#. Open a terminal and run the Robot-ARM PLCopen IEC-61131-3 motion-control driver:
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```bash
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$ isolcpus=$(cat /sys/devices/system/cpu/isolated)
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$ sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_robot_arm_rtmotion
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isolcpus=$(cat /sys/devices/system/cpu/isolated)
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sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_robot_arm_rtmotion
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```
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**Note**: By default, ECI isolates CPU cores 1 & 3 (see :doc:`Real-Time Linux <../installation_setup/installation/rt_linux>`).
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#. Open a second terminal with elevated permissions:
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```bash
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$ sudo -i
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sudo -i
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```
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#. In the second terminal, set up the ROS2 environment and run the ROS2 HIWIN databus messages with IEC-61131-3 motion-control demo:
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```bash
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$ source /opt/ros/jazzy/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 run run_hiwin_plc run_hiwin_plc
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 run run_hiwin_plc run_hiwin_plc
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```
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```bash
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$ source /opt/ros/humble/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 run run_hiwin_plc run_hiwin_plc
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source /opt/ros/humble/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 run run_hiwin_plc run_hiwin_plc
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```
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#. Open a third terminal with elevated permissions:
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```bash
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$ sudo -i
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#. In the third terminal, set up the ROS2 environment and run the ROS2 HIWIN MoveIt2 launch file:
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```bash
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$ source /opt/ros/jazzy/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 launch run_hiwin_plc run_hiwin_plc.launch.py
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 launch run_hiwin_plc run_hiwin_plc.launch.py
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```bash
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$ source /opt/ros/humble/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 launch run_hiwin_plc run_hiwin_plc.launch.py
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source /opt/ros/humble/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 launch run_hiwin_plc run_hiwin_plc.launch.py
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```bash
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$ sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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$ sudo apt install ros-jazzy-agvm
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sudo apt install pciutils plcopen-motion plcopen-servo plcopen-databus libshmringbuf-dev libshmringbuf
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sudo apt install ros-jazzy-agvm
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#. Run the Robot-ARM PLCopen IEC-61131-3 motion-control driver:
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```bash
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$ isolcpus=$(cat /sys/devices/system/cpu/isolated)
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$ sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_amr_rtmotion
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isolcpus=$(cat /sys/devices/system/cpu/isolated)
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sudo taskset -c ${isolcpus:-1,3} /opt/plcopen/plc_rt_amr_rtmotion
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```
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**Note**: By default, ECI isolates CPU cores 1 & 3 (13th generation processors and older) or 2 & 4 (14th generation processors and newer) (see [Real-Time Linux](../installation_setup/installation/rt_linux.rst)).
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#. Open a second terminal with elevated permissions:
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$ sudo -i
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#. In the second terminal, set up the ROS2 environment and run the ROS2 AGVM databus messages with IEC-61131-3 motion-control demo:
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```bash
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$ source /opt/ros/humble/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 launch agvm agvm_base.launch.py
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source /opt/ros/humble/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 launch agvm agvm_base.launch.py
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```
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```bash
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$ sudo -i
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#. In the third terminal, set up the ROS2 environment and run the following command:
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```bash
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$ source /opt/ros/jazzy/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: -0.1}, angular: {z: -0.1}}"
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: -0.1}, angular: {z: -0.1}}"
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```
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```bash
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$ source /opt/ros/humble/setup.bash
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$ export ROS_DOMAIN_ID=31
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$ ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: -0.1}, angular: {z: -0.1}}"
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source /opt/ros/humble/setup.bash
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export ROS_DOMAIN_ID=31
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ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: -0.1}, angular: {z: -0.1}}"
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```
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