updated simulation

Author: Tomas Baca

docs/60-simulations/10-mrs/index.md

@@ -10,7 +10,7 @@ This page is describing the upcomming ROS2 version of the MRS UAV System (howeve
 
 # MRS Multirotor Simulator
 
-This folder contains docs on simulation using the [MRS Multirotor Simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator) and the MRS UAV System.
+This folder contains docs on simulation using the [MRS Multirotor Simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2) and the MRS UAV System.
 
 import DocCardList from '@theme/DocCardList';
 

docs/60-simulations/10-mrs/standalone_in_ros.md

@@ -8,23 +8,23 @@ This page is describing the upcomming ROS2 version of the MRS UAV System (howeve
 
 # Prerequsities
 
-1. The [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) installed.
-2. The [MRS UAV Core](http://github.com/ctu-mrs/mrs_uav_core) installed.
+1. The [ROS Jazzy](http://wiki.ros.org/jazzy/Installation/Ubuntu) installed.
+2. The [MRS UAV System](http://github.com/ctu-mrs/mrs_uav_system) installed.
 
 # Starting the simulation
 
 Running the simulation consists of several steps, which are **automated** using a **tmuxinator** script.
-Examples of tmuxinator files can be found in the **tmux** folder within the [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator) package.
+Examples of tmuxinator files can be found in the **tmux** folder within the [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2) package.
 With the system installed, you can find them (and then copy them elsewhere) by running
 ```bash
-roscd mrs_multirotor_simulator/tmux
+cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux
 ```
 Each folder contains a different simulation scenario.
 
 The simlation scenario will be started by calling the `start.sh` script within its folder.
 This will call the `tmuxinator` utility that uses the prescription in the `session.yml` file to spawn a `tmux` session.
 ```bash
-roscd mrs_multirotor_simulator/tmux/standalone
+cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/standalone
 ./start.sh
 ```
 
@@ -34,7 +34,7 @@ You should be presented with the "Rviz" window upon starting the session.
 A similar session was also prepared to showcase the simulator of large number (400) of UAVs:
 
 ```bash
-roscd mrs_multirotor_simulator/tmux/standalone_400_uavs
+cd /opt/ros/jazzy/share/mrs_multirotor_simulator/tmux/standalone_400_uavs
 ./start.sh
 ```
 
@@ -49,6 +49,6 @@ b) Hit the _killing shortcut_: `ctrl+a k` (`ctrl+a` and then `k`). A menu will a
 
 # Configuring the simulator
 
-The simulator is configure through a _custom config_ file [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/master/tmux/mrs_one_drone/config/simulator.yaml) which contains the differences form the [default simulator config file](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/master/config/multirotor_simulator.yaml).
+The simulator is configure through a _custom config_ file (how to [custom configs](/api/custom_config)) which contains the differences form the default simulator config.
 You can configure how many drones should be spawned, of which type and where.
-The particular drone models are configure [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/master/config/uavs).
+The particular drone models are configure [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2/config/uavs).

docs/60-simulations/10-mrs/standalone_outside_ros.md

@@ -10,7 +10,7 @@ The MRS Multirotor Simulator contains a **header-only** implementation of the si
 
 ## Headers
 
-The headers are located in [include/mrs_multirotor_simulator/uav_system](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/master/include/mrs_multirotor_simulator/uav_system).
+The headers are located in [include/mrs_multirotor_simulator/uav_system](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2/include/mrs_multirotor_simulator/uav_system).
 All the headers should be linked using relative includes so it should be possible to just copy the whole folder into your own code.
 
 ## Provided API

docs/60-simulations/10-mrs/with_mrs_system.md

@@ -8,13 +8,13 @@ This page is describing the upcomming ROS2 version of the MRS UAV System (howeve
 
 # Prerequsities
 
-1. The [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) installed.
+1. The [ROS Jazzy](http://wiki.ros.org/jazzy/Installation/Ubuntu) installed.
 2. The [MRS UAV System](https://github.com/ctu-mrs/mrs_uav_system) installed.
 
 # Starting the simulation
 
 Running the simulation consists of several steps, which are **automated** using a **tmuxinator** script.
-Examples of tmuxinator files can be found in the **tmux** folder within the [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator) package.
+Examples of tmuxinator files can be found in the **tmux** folder within the [mrs_multirotor_simulator](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2) package.
 With the system installed, you can find them (and then copy them elsewhere) by running
 ```bash
 roscd mrs_multirotor_simulator/tmux
@@ -41,6 +41,6 @@ b) Hit the _killing shortcut_: `ctrl+a k` (`ctrl+a` and then `k`). A menu will a
 
 # Configuring the simulator
 
-The simulator is configure through a _custom config_ file [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/master/tmux/mrs_one_drone/config/simulator.yaml) which contains the differences form the [default simulator config file](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/master/config/multirotor_simulator.yaml).
+The simulator is configure through a _custom config_ file [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/ros2/tmux/mrs_one_drone/config/simulator.yaml) which contains the differences form the [default simulator config file](https://github.com/ctu-mrs/mrs_multirotor_simulator/blob/ros2/config/multirotor_simulator.yaml).
 You can configure how many drones should be spawned, of which type and where.
-The particular drone models are configure [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/master/config/uavs).
+The particular drone models are configure [here](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/ros2/config/uavs).

docs/60-simulations/30-FlightForge/01-installation.md

@@ -22,7 +22,7 @@ The FlightForge simulator is composed of two main parts - the simulator itself e
 The prebuild binaries of the simulator can be downloaded from the [here](https://nasmrs.felk.cvut.cz/index.php/s/MnGARsSwnpeVy5z). 
 The simulator is available for Linux and Windows, the simulator can be run by running the binary file `mrs_flight_forge.sh` in the downloaded archive.
 The binary provides the simulator as a standalone application that can be run without the need of Unreal Engine.
-However, if you wish to create a custom environment or modify the simulator you can download our Unreal Engine plugin from [flight_forge repository](https://github.com/ctu-mrs/flight_forge), and place it in the `Plugins` folder of your Unreal Engine project.
+However, if you wish to create a custom environment or modify the simulator you can download our Unreal Engine plugin from [flight_forge repository](https://github.com/ctu-mrs/flight_forge/tree/rosw), and place it in the `Plugins` folder of your Unreal Engine project.
 Currently, the plugin is only guaranteed to work with Unreal Engine 5.4.
 
 ## ROS Package

docs/60-simulations/30-FlightForge/30-example-sessions.md

@@ -14,7 +14,7 @@ The FlightForge simulator comes with a few example sessions that you can use to
 The example sessions are located in the `mrs_uav_flightforge_simulation` ROS package.
 The invarient part of using the FlightForge simulator is to first start the simulator and then start the ROS nodes that control the drones.
 
-To start the simulator first start the binary from the archive you downloaded in the [installation](https://ctu-mrs.github.io/docs/simulations/FlightForge/installation) section.:
+To start the simulator first start the binary from the archive you downloaded in the [installation](/simulations/FlightForge/installation) section.:
 
 ```bash
 ./mrs_flight_forge.sh