From 76b1f92fcda1ab8c4a29d9a6eeaeb5bd4d238d03 Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@gmail.com>
Date: Tue, 30 Aug 2016 09:50:33 +0200
Subject: [PATCH] Adds documentation for starting the 2D SLAM demo. (#30)

---
 docs/source/demo.rst  | 31 +++++++++++++++++++++++++++++++
 docs/source/index.rst |  9 ++++-----
 2 files changed, 35 insertions(+), 5 deletions(-)
 create mode 100644 docs/source/demo.rst

diff --git a/docs/source/demo.rst b/docs/source/demo.rst
new file mode 100644
index 0000000..261cbb9
--- /dev/null
+++ b/docs/source/demo.rst
@@ -0,0 +1,31 @@
+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=====================
+Cartographer ROS Demo
+=====================
+
+First, follow the installation instructions in the :ref:`getting-started` section.
+
+Now that Cartographer and Cartographer's ROS integration are installed,
+download the example bag, a 2D backpack collection of the `Deutsches Museum
+<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
+this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
+
+  .. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
+    roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
+
+The launch file will bring up ``roscore`` and ``rviz`` automatically.
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 2502971..2ebf397 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -12,11 +12,6 @@
    See the License for the specific language governing permissions and
    limitations under the License.
 
-.. Cartographer documentation master file, created by
-   sphinx-quickstart on Fri Jul  8 10:41:33 2016.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
 ============================
 Cartographer ROS Integration
 ============================
@@ -25,6 +20,8 @@ Cartographer ROS Integration
    :maxdepth: 2
    :hidden:
 
+   demo
+
 `Cartographer`_ is a system that provides real-time simultaneous localization
 and mapping `SLAM`_ across multiple platforms and sensor configurations. This
 project provides Cartographer's ROS integration.
@@ -32,6 +29,8 @@ project provides Cartographer's ROS integration.
 .. _Cartographer: https://github.com/googlecartographer/cartographer
 .. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
 
+.. _getting-started:
+
 Getting Started
 ===============