Multi robot discovery server (#22)

* Multi-robot Discovery Server Functionality

* Clarifications based on user misunderstandings

* Update for Humble

* Add Create3 charging base purchase link

* Clarify SD card imaging steps

electrical/pcba.md

@@ -12,6 +12,9 @@ The User Interface PCBA is only available on the TurtleBot 4 and NOT the TurtleB
 
 The TurtleBot 4 comes with an additional User Interface board that expands on the Raspberry Pi 4 functionality to give the user ease of control over the Create® 3 robot and Raspberry Pi and to act as an expansion board for addons, sensors, gadgets the user might have in mind to utilize.
 
+
+Full documentation including the schematic, Gerber files and bill of materials are available in the [TurtleBot 4 hardware repository](https://github.com/turtlebot/turtlebot4-hardware/tree/master/TurtleBot%204/Components/025618%20-%20PCBA%2C%20SHELL-SHAPE%E2%80%94%C3%98273%20X%20230).
+
 <figure class="aligncenter">
     <img src="media/PCB.png" alt="TurtleBot 4 UI Board" style="width: 90%"/>
     <figcaption>TurtleBot 4 User Interface PCBA</figcaption>

mechanical/turtlebot4.md

@@ -72,4 +72,6 @@ The Create® 3 Integration Plate and Shell can be removed with the rest of the a
 
 To reattach the plate, place the plate slightly angled such that the posts fit into the tabs. Then, twist the plate clockwise until it snaps back into place.
 
+## Hardware Details
 
+For further information regarding the mechanical build, see the [TurtleBot 4 hardware repository](https://github.com/turtlebot/turtlebot4-hardware)

mechanical/turtlebot4_lite.md

@@ -42,4 +42,8 @@ The Raspberry Pi is found in the rear tray of the robot. To fully access the Ras
 <figure class="aligncenter">
     <img src="media/create_tray.jpg" alt="Create® 3 Tray" style="width: 50%"/>
     <figcaption>Create® 3 Cargo Bay removal</figcaption>
-</figure>
+</figure>
+
+## Hardware Details
+
+For further information regarding the mechanical build, see the [TurtleBot 4 hardware repository](https://github.com/turtlebot/turtlebot4-hardware)

overview/resources.md

@@ -38,6 +38,7 @@ sort: 2
   - Electrical overview: <https://iroboteducation.github.io/create3_docs/hw/electrical/>
   - Create® 3 Simulator: <https://github.com/iRobotEducation/create3_sim>
   - Create® 3 Messages: <https://github.com/iRobotEducation/irobot_create_msgs>
+  - Create® 3 Republisher: <https://github.com/iRobotEducation/create3_examples>
 
 ### Luxonis
   - OAK-D-Lite product details: <https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9095.html>

setup/basic.md

@@ -6,7 +6,7 @@ sort: 1
 
 These instructions will set up the user PC and robot for basic communication. Further setup will depend on the chosen [networking](./networking.md) configuration.
 
-## User PC
+## 1. User PC {#user-pc}
 
 ### Installing ROS 2
 
@@ -41,7 +41,7 @@ sudo apt update && sudo apt install ros-humble-turtlebot4-desktop
 {% endtab %}
 {% endtabs %}
 
-## Robot
+## 2. Robot {#robot}
 
 The first step for setting up the TurtleBot 4 is to power it on and connect it to your Wi-Fi network.
 
@@ -207,7 +207,14 @@ SSH into the Raspberry Pi, then update all packages by calling:
 sudo apt update && sudo apt upgrade
 ```
 
-## TurtleBot 4 Controller Setup
+## 3. Next Steps {#next-steps}
+
+Next the networking must be configured. Review the [Networking](networking.md) page to select a networking configuration.
+
+
+## Supplemental Configuration
+
+### TurtleBot 4 Controller Manual Setup
 
 The TurtleBot 4 comes with an included TurtleBot 4 Controller. It is paired in advance with the Raspberry Pi.
 
@@ -236,7 +243,11 @@ sudo bluetoothctl
 - The CLI should report that the controller has been connected and the light on the controller will turn blue.
 - Enter `exit` to exit the CLI.
 
-## Access Point Mode
+```warning
+Ensure that the commands are completed in quick succession. Too much delay between commands can result in the process timing out and to ultimately fail. If pairing fails then remove the device by using the `untrust` command followed by `remove` command alongside the MAC Address and try again.
+```
+
+### Access Point Mode
 
 Placing the Raspberry Pi into Access Point mode can be useful when using the robot in an area without Wi-Fi connection.
 
@@ -277,7 +288,9 @@ reconfigure the Raspberry Pi to connect to that network beforehand or place it i
 Otherwise it will continue trying to connect to your current network.
 ```
 
-## Recovering the Raspberry Pi
+## Troubleshooting
+
+### Recovering the Raspberry Pi
 
 If you entered incorrect Wi-Fi credentials or your Wi-Fi network is down, you will not be able to access the Raspberry Pi over Wi-Fi. To recover from this, you can connect directly to the Raspberry Pi using an ethernet cable. You may need a USB to Ethernet adapter for your PC.
 
@@ -304,29 +317,32 @@ You can now go to your terminal and SSH into the robot by typing:
 ssh [email protected]
 ```
 
-## Install latest Raspberry Pi image
+### Install latest Raspberry Pi image
+
+Resetting to a fresh Raspberry Pi image allows complete resetting of the Raspberry Pi. This is suggested if the system has been modified in a way that has corrupted the wired connection or general operating system.
 
 ```warning
 Installing a new image on the Raspberry Pi will delete any changes you may have made. Save your changes externally before proceeding.
 ```
 
 Find the latest TurtleBot 4 Raspberry Pi images at <http://download.ros.org/downloads/turtlebot4/>.
 
-- Download the latest image and extract it. 
+- Download the latest image for the given ROS distribution and robot model. 
+- Extract the zip file to get the `.img` file 
 - Power off your robot and then remove the microSD card from the Raspberry Pi.
 - Insert the microSD card into your PC. You may need an adapter.
 - Install the imaging tool `dcfldd`
 
 ```bash
 sudo apt install dcfldd
 ```
-- Identify your SD card
+- Identify your SD card by running
 
 ```bash
-sudo fdisk -l
+lsblk -d -e7
 ```
 
-- The SD card should have a name like `/dev/mmcblk0` or `/dev/sda`.
+- The SD card should have a name like `mmcblk0` or `sdb`.
 
 - If you wish to backup your current image, do so now:
 
@@ -344,7 +360,7 @@ IMAGE_PATH is the path to where you want the image saved -- e.g., `~/turtlebot4_
 
 ```bash
 wget https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/sd_flash.sh
-bash sd_flash.sh /path/to/downloaded/image
+bash sd_flash.sh /path/to/downloaded/image.img
 ```
 - Follow the instructions and wait for the SD card to be flashed. 
 - Remove the SD card from your PC.