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@@ -1,97 +1,36 @@
-# Turtlebot3 ROS2 template
+# Code für die einzelnen Challenges
 
-## Preparing ROS workspaces and environment variables
+Dieses Repository enthält den gesamten Code, um die einzelnen Challenges laufen zu lassen.
 
-`rosenv` alias (example in `ros.sh`) which activates preinstalled `ros-base`, `gazebo-ros-pkgs`, and `turtlebot3` workspaces. If `ros.sh` is installed in `/etc/profile.d` then `ros.sh` will be automatically loaded everytime you open a terminal. Then you can type `rosenv` to activate the ROS environment in a new terminal.
+## Challenge 1
+Um Challenge 1 laufen zu lassen, muss nach dem Klonen dieses Repos einfach folgendes eingegeben werden:
 
-Setting up your `ROS_DOMAIN_ID`, e.g., if multiple users are working on the same server. You can use `set_my_ros_domain_id.sh` for this. Generate a random id with `make set_my_ros_domain_id.sh`
-
-# Setup
-
-Open three terminal windows for:
-
-1. running your ROS node
-2. writing code
-3. launching & monitoring Gazebo
-
-### 1st window - running your ROS node
-
-
-```sh
-git clone https://mygit.th-deg.de/gaydos/tb3-ros2-template && cd tb3-ros2-template 
-make  # creates a ROS package, builds it and links `tb3.py` to the file in `src/.../tb3.py` (creates a shortcut)
-. ./set_my_ros_domain_id.sh  # sets a random `ROS_DOMAIN_ID`. Useful when multiple users are working on the same server
-. ./install/local_setup.sh  # activate current workspace (you can also use `. ./load_workspace.sh`)
+```shell
+python tb3_challenge1.py
 ```
 
-Then you can run your ROS node:
-```sh
-ros2 run my_pkg tb3  # (you can also use `./run.sh`)
-```
+## Challenge 2
+Um Challenge 2 laufen zu lassen, muss nach dem Klonen dieses Repos einfach folgendes eingegeben werden:
 
-This should at least output:
-```
-waiting for messages...
-```
-
-If the robot is already brought up, then you should also get `LaserScan` messages:
-```
-F: 0.5624107122421265
-R: 0.3894226849079132
-...
+```shell
+python tb3_challenge2.py
 ```
 
-### 2nd window - writing code
+## Challenge 4
+Um Challenge 4 laufen zu lassen, muss nach dem Klonen dieses Repos einfach folgendes eingegeben werden:
 
-Open `tb3.py` with your your favorite text editor, e.g., `vim`, `Visual Studio Code (Code OSS)`
-
-### 3rd window - launching & monitoring Gazebo
-
-```sh
-rosenv
-gazebo --verbose WORLD_FILE  # the world file can be e.g., world.sdf
+```shell
+python tb3_challenge4.py
 ```
 
-Should output:
-```
-Gazebo multi-robot simulator, ...
-...
-[Msg] Waiting for master.
-[Msg] Connected to gazebo master @ http://127.0.0.1:11345
-...
-[Msg] Loading world file [/home/...]
-...
-```
+## Challenge 5
+Um Challenge 5 laufen zu lassen, muss nach dem Klonen dieses Repos einfach folgendes eingegeben werden:
 
-And if you open a world with TB3 or add it manually:
-```
-[INFO] [1608802634.071946263] [gazebo_ros_node]: ROS was initialized without arguments.
-...
+```shell
+python tb3_challenge5.py
 ```
 
-After TB3 is instantiated, you should see `LaserScan` values in the first window
-
-
-## Notes
-
-- In Gazebo, use CTRL+r on Gazebo to restart the simulation. This way you do not have to close and open Gazebo
-- use CTRL+C to kill a command line process, e.g., your ROS program or non-responsive Gazebo
-- if you get the following error:
-
-  ```
-  [Err] ... EXCEPTION: Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.
-  ```
-
-  then choose another port for Gazebo, e.g.:
-
-  ```
-  $ GAZEBO_MASTER_URI=:12346 gazebo --verbose challenge_2.sdf
-  ```
 
-- if you do not use the simulation, then close Gazebo to leave the processor resources for others. If the system is slow, `htop` may show you the reason. `htop` shows who the active processes belong to and processor usage.
-- you can kill a process with process id 12345 using `kill 12345`. The process id is shown in the `PID` column in `htop`.
-- `make clean` removes all generated files which may help in case of an error
-- `tools/` folder contain convenience scripts, e.g.,
+# Zusammenfassung
 
-  - `stop-tb3.sh`: to stop the robot manually
-  - `tb3-teleop.sh`: teleoperation using keyboard
+Die Zusammenfassung der gesamten PLV-Woche ist [hier](https://joan.th-deg.de/~ps16214/sphinx-book-template/index.html#) zu finden.
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