From 69b6857d9e6ac2122e31c83681d2ffeeda46edef Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Fri, 27 Mar 2020 11:37:59 +0100
Subject: [PATCH 1/6] Fix launching in high level overview (PM-360)

---
 .../high_level_overview.rst                            | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/doc/using_the_march_exoskeleton/high_level_overview.rst b/doc/using_the_march_exoskeleton/high_level_overview.rst
index 0b13cfbc..26c35cdd 100644
--- a/doc/using_the_march_exoskeleton/high_level_overview.rst
+++ b/doc/using_the_march_exoskeleton/high_level_overview.rst
@@ -13,11 +13,13 @@ A high level overview of the components that make up the |march|.
 
 Simulation versus Exoskeleton
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-As our exoskeleton is under construction most of the time, we have made use of a simulation to ensure we can verify our higher level nodes work.
-As seen in the above image, most of the hardware components have a simulated counterpart.
+As our exoskeleton is under construction most of the time, we have made use of
+a simulation to ensure we can verify our higher level nodes work. As seen in
+the above image, most of the hardware components have a simulated counterpart.
 
-At launch time, the user is asked if they are trying to run on the exoskeleton or on the simulation.
-Based on this selection, the required components are started.
+When launching, the user can choose whether to launch the simulation or the
+hardware. See :ref:`march-launch-label` for more information on launching the
+exoskeleton.
 
 Input Device
 ^^^^^^^^^^^^

From 873455f61a686d5c05c643259c8966d61079c33b Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Fri, 27 Mar 2020 11:54:28 +0100
Subject: [PATCH 2/6] Add input device doc in high level overview (PM-361)

---
 doc/using_the_march_exoskeleton/high_level_overview.rst | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/doc/using_the_march_exoskeleton/high_level_overview.rst b/doc/using_the_march_exoskeleton/high_level_overview.rst
index 26c35cdd..bea65ed7 100644
--- a/doc/using_the_march_exoskeleton/high_level_overview.rst
+++ b/doc/using_the_march_exoskeleton/high_level_overview.rst
@@ -23,3 +23,10 @@ exoskeleton.
 
 Input Device
 ^^^^^^^^^^^^
+The pilot of the exoskeleton can give input on which gait they want to perform
+through the input device embedded in one of the crutches, see
+:ref:`march-input-device-label`. Furthermore, there exists a developer input
+device in the form of an RQT plugin, see :ref:`march-rqt-input-device-label`.
+Both of these ways of input can either be used in the simulation or the
+hardware. They are not dependent on the configuration in which the exoskeleton
+is run.

From 2a2006db5979e580b5a0779005cea0850987dcf6 Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Mon, 30 Mar 2020 12:39:32 +0200
Subject: [PATCH 3/6] Update software stack diagram

---
 .../high_level_overview.rst                     |   4 ++--
 .../images/high_level_architecture.svg          |   3 +++
 .../images/software_stack.png                   | Bin 51133 -> 0 bytes
 3 files changed, 5 insertions(+), 2 deletions(-)
 create mode 100644 doc/using_the_march_exoskeleton/images/high_level_architecture.svg
 delete mode 100644 doc/using_the_march_exoskeleton/images/software_stack.png

diff --git a/doc/using_the_march_exoskeleton/high_level_overview.rst b/doc/using_the_march_exoskeleton/high_level_overview.rst
index bea65ed7..46613a3f 100644
--- a/doc/using_the_march_exoskeleton/high_level_overview.rst
+++ b/doc/using_the_march_exoskeleton/high_level_overview.rst
@@ -6,14 +6,14 @@ A high level overview of the components that make up the |march|.
 
 .. inclusion-introduction-end
 
-.. figure:: images/software_stack.png
+.. figure:: images/high_level_architecture.svg
    :align: center
 
    The March software stack
 
 Simulation versus Exoskeleton
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-As our exoskeleton is under construction most of the time, we have made use of
+As the |march| is under construction most of the time, we have made use of
 a simulation to ensure we can verify our higher level nodes work. As seen in
 the above image, most of the hardware components have a simulated counterpart.
 
diff --git a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
new file mode 100644
index 00000000..4014e5e1
--- /dev/null
+++ b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="UTF-8"?>
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From 378b7ff6d13d5811cedcae18af6f27d95d8e2095 Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Mon, 30 Mar 2020 15:21:41 +0200
Subject: [PATCH 4/6] Fix fonts and rename gait to subgait

---
 .../images/high_level_architecture.svg                          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
index 4014e5e1..fb58253c 100644
--- a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
+++ b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
@@ -1,3 +1,3 @@
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\ No newline at end of file

From aa39ab0d5eee1ae3682183fa3a7df39c3451b421 Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Mon, 30 Mar 2020 15:26:19 +0200
Subject: [PATCH 5/6] Fix font for real

---
 .../images/high_level_architecture.svg                          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
index fb58253c..da49eab0 100644
--- a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
+++ b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
@@ -1,3 +1,3 @@
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\ No newline at end of file

From b6ba196a1cf00e5d9dd213e507c317550a9ee57a Mon Sep 17 00:00:00 2001
From: Olav de Haas <o.n.dehaas@student.tudelft.nl>
Date: Mon, 30 Mar 2020 15:47:51 +0200
Subject: [PATCH 6/6] Format svg

---
 .../images/high_level_architecture.svg        | 687 +++++++++++++++++-
 1 file changed, 686 insertions(+), 1 deletion(-)

diff --git a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg b/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
index da49eab0..079e0123 100644
--- a/doc/using_the_march_exoskeleton/images/high_level_architecture.svg
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