diff --git a/docs/operate/reference/services/navigation/_index.md b/docs/operate/reference/services/navigation/_index.md index 519e757382..d36e8a50b2 100644 --- a/docs/operate/reference/services/navigation/_index.md +++ b/docs/operate/reference/services/navigation/_index.md @@ -202,7 +202,7 @@ Add a [nested reference frame](/services/frame-system/nested-frame-config/) conf {{}} You can also adjust the **Orientation** and **Geometry** of your movement sensor or base, if necessary. -See [the frame system service](/services/frame-system/#configuration) for instructions. +See [the frame system service](/operate/mobility/define-geometry/) for instructions. #### Calibrate @@ -288,7 +288,7 @@ You can choose the origin reference frame by configuring it using Viam's [frame The `GetOrientation` readings will report orientations relative to that initial frame. To read orientation, first [configure a capable movement sensor](/operate/reference/components/movement-sensor/#configuration) on your machine. -Additionally, follow [these instructions](/services/frame-system/#configuration) to configure the geometries of each component of your machine within the [frame system](/services/frame-system/). +Additionally, follow [these instructions](/operate/mobility/define-geometry/#configure-a-reference-frame) to configure the geometries of each component of your machine within the [frame system](/operate/services/frame-system/). Then use the movement sensor API's [`GetOrientation()`](/dev/reference/apis/components/movement-sensor/#getorientation) method to get orientation readings. ### Angular velocity diff --git a/docs/operate/reference/viam-server/manage-viam-server.md b/docs/operate/reference/viam-server/manage-viam-server.md index 5a2632fc33..54d06fc907 100644 --- a/docs/operate/reference/viam-server/manage-viam-server.md +++ b/docs/operate/reference/viam-server/manage-viam-server.md @@ -33,7 +33,7 @@ Select the tab for your platform: ### Run as a system service -After [installation](/operate/get-started/setup/#install-viam-server), the `viam-server` [AppImage](https://appimage.org/) binary will be located at /usr/local/bin/viam-server, and a `systemd` service file will be placed at /etc/systemd/system/viam-server.service. +After [installation](/operate/get-started/setup/), the `viam-server` [AppImage](https://appimage.org/) binary will be located at /usr/local/bin/viam-server, and a `systemd` service file will be placed at /etc/systemd/system/viam-server.service. By default, `viam-server` is configured to start when the machine boots. Running `viam-server` as a system service is the recommended method for Linux. @@ -86,7 +86,7 @@ Run the following on the command line to start `viam-server`, providing the path sudo viam-server -config /path/to/my/config.json ``` -If you followed the [Installation Guide](/operate/get-started/setup/#install-viam-server), your machine's configuration file is available at /etc/viam.json. +If you followed the [Installation Guide](/operate/get-started/setup/), your machine's configuration file is available at /etc/viam.json. You can provide this path in the above command, or move the configuration file to a desired location and change the path in this command accordingly. If you don't yet have a configuration file, you can [build a new configuration file](/internals/local-configuration-file/). @@ -103,7 +103,7 @@ Press **Ctrl + C** on your keyboard within the terminal session where you are ru ### Run from the command line -After [installation](/operate/get-started/setup/#install-viam-server), `viam-server` can be run directly on the command line. +After [installation](/operate/get-started/setup/), `viam-server` can be run directly on the command line. Running `viam-server` on the command line is the recommended method for macOS. @@ -117,7 +117,7 @@ Run the following on the command line to start `viam-server`, providing the path viam-server -config /path/to/my/config.json ``` -If you followed the [Installation Guide](/operate/get-started/setup/#install-viam-server), your machine's configuration file is available in your ~/Downloads/ directory, named similarly to viam-machinename-main.json. +If you followed the [Installation Guide](/operate/get-started/setup/), your machine's configuration file is available in your ~/Downloads/ directory, named similarly to viam-machinename-main.json. You can provide this path in the above command, or move the configuration file to a desired location and change the path in this command accordingly. If you don't yet have a configuration file, you can use the example configuration file provided at /opt/homebrew/etc/viam.json or you can [build a new configuration file](/internals/local-configuration-file/). @@ -132,7 +132,7 @@ Type **Ctrl + C** on your keyboard within the terminal session where you are run Installing `viam-server` as a system service is not recommended for most use cases on macOS. However, if you are looking to create a machine that runs on macOS and you want it to run `viam-server` automatically when your macOS system boots, then you will need to run `viam-server` as a service. -Once you have [installed `viam-server`](/operate/get-started/setup/#install-viam-server) on your macOS computer, use the following commands to control the service. +Once you have [installed `viam-server`](/operate/get-started/setup/) on your macOS computer, use the following commands to control the service. These commands require that you store your configuration file at /opt/homebrew/etc/viam.json. #### Start