restructure and rename cheat-sheet

launch/commands.md

+# Useful commands
+
+This document is a cheat sheet for useful commands
+
+## Image detection
+
+- figure out the correct camera and its settings
+  - get the correct device
+    `v4l2-ctl --list-devices`
+  - show device information (change device depending on output of above command)
+    `v4l2-ctl -d /dev/video2 --all`
+- show (rectified) image of camera
+  `rosrun image_view image_view image:=/usb_cam/image_rect`
+- show detected image
+  `rosrun image_view image_view image:=/tag_detections_image`
+- interpret the apriltag message:
+  `rosmsg show apriltag_ros/AprilTagDetectionArray`
+  ```
+  std_msgs/Header header
+    uint32 seq
+    time stamp
+    string frame_id
+  apriltag_ros/AprilTagDetection[] detections
+    int32[] id
+    float64[] size
+    geometry_msgs/PoseWithCovarianceStamped pose
+      std_msgs/Header header
+        uint32 seq
+        time stamp
+        string frame_id
+      geometry_msgs/PoseWithCovariance pose
+        geometry_msgs/Pose pose
+          geometry_msgs/Point position
+            float64 x
+            float64 y
+            float64 z
+          geometry_msgs/Quaternion orientation
+            float64 x
+            float64 y
+            float64 z
+            float64 w
+        float64[36] covariance
+  ```
+## TF and RVIZ
+
+- open a new RVIZ to show transformations
+  `rosrun rviz rviz`
+  - set **Fixed Frame** to `CETI_TABLE_ONE`
+  - select Add -> TF to show TF objects
+
+## Robot Controllers
+- send a scene manually
+  `rostopic pub -1 /connector_node_ros_ccf/send_scene std_msgs/Empty`

launch/commands.txt

-
-# show image of camera
-rosrun image_view image_view image:=/usb_cam/image_rect
-
-# show detected image
-rosrun image_view image_view image:=/tag_detections_image
-
-rosmsg show apriltag_ros/AprilTagDetectionArray
-std_msgs/Header header
-  uint32 seq
-  time stamp
-  string frame_id
-apriltag_ros/AprilTagDetection[] detections
-  int32[] id
-  float64[] size
-  geometry_msgs/PoseWithCovarianceStamped pose
-    std_msgs/Header header
-      uint32 seq
-      time stamp
-      string frame_id
-    geometry_msgs/PoseWithCovariance pose
-      geometry_msgs/Pose pose
-        geometry_msgs/Point position
-          float64 x
-          float64 y
-          float64 z
-        geometry_msgs/Quaternion orientation
-          float64 x
-          float64 y
-          float64 z
-          float64 w
-      float64[36] covariance
-
-
-rosrun rviz rviz
-- Fixed Frame CETI_TABLE_ONE
-- Add -> TF
-
-# send a scene manually
-rostopic pub -1 /connector_node_ros_ccf/send_scene std_msgs/Empty