\documentclass[11pt,a4paper]{report}

\input{all_packages}   
\usepackage{soul}

\begin{document}

%%% ******** TIKZ DEFINITIONS ******** %%%
% Define styles for the objects
\tikzstyle{block1} = [draw, fill=lightgray!40, rectangle,thick, minimum height=3em, minimum width=6em, text centered, text width=3cm]
\tikzstyle{block2} = [draw, fill=lightgray!40, circle ,minimum size=2.5cm, thick, text centered]
\tikzstyle{block?} = [draw, fill=lightgray!20, diamond, thick, minimum height=3em, minimum width=3em, text centered, text width=1.25cm]
\tikzstyle{bit} = [minimum width=0.5cm, minimum height=1.5em, outer sep=0pt, draw=black, semithick]
\tikzstyle{textonly} = [minimum width=0.5cm, minimum height=1.5em, semithick]
%%% *******
%\pagestyle{fancy}

\begin{LARGE}
	\textbf{Erratum}
\end{LARGE}
\newline

Title of Subsection 2.1.1 is to change from \st{'Load cells and calibration'} to \textbf{'Load cells'}.
\newline

In Subsection 3.3, Module \textit{haptic\_force}, Figure 3.5 and it's legend are to be changed for the ones below.


\begin{figure}[H]
% The block diagram code is probably more verbose than necessary
\centering
\begin{tikzpicture}[auto, node distance=3cm,>=latex']
		\node [block1, name=launch] {\underline{\textbf{Launcher}}};
		
		\node [block1, below of=launch, name=setup, text width=6cm] {
		    \underline{\textbf{Setup}}
		    \begin{itemize}
		    	\item Initialize device (scheduler, feedback, calibration)
		    	\item Initialize ROS (subscriber, publisher, frequency)
		    \end{itemize}
		    };
		    
		    \node [block1, right of =setup, name=schduler, node distance=6cm, yshift=12.5mm] {
		    \underline{\textbf{Schduler}}
		    };
		    
		    \node [block1, below of =schduler, name=call, node distance=2cm, text width=4cm] {
		    \underline{\textbf{Force callback}}
		    \begin{itemize}
		    	\item Update force to structure
		    \end{itemize}
		    };
		    
%		    \node [block1, below of =setup, name=loop, node distance=3.25cm] {
%		    \underline{\textbf{Loop}}
%		    };
		    
		    \node [block?, below of =setup, name=state, node distance=4.25cm] {
		    \textit{new state}?
		    };
		    
		    \node [block1, right of =state, name=pub, node distance=6cm] {
		    \underline{\textbf{Publish state}}
		    };
		    
		    \node [block?, below of =state, name=button, node distance=3.25cm] {
		    \textit{button 2}?
		    };
		    
		    \node [block1, below of =button, name=home_pos, node distance=2.5cm, text width=5cm] {
		    \underline{\textbf{Set new home position}}
		    };
		    
		    \path [->,draw,very thick] (launch) -- (setup);
		    \path [->,draw,very thick] (setup) -- (state);
		    \path [->,draw,very thick] (state) -- node[right]{no} (button);
		    \path [->,draw,very thick] (button) -- node[right]{yes} (home_pos);
		    \path [->,draw,very thick] (state) -- node[right]{yes} (pub);
		    
		    \path [->,draw,very thick] (pub.south) -- ++(0,-2.66) -- (button.east);
		    
		    \path [-,draw,very thick] (button.west) -- node[right]{no} ++(-2.75,0);
		    
		    \path [->,draw,very thick] (home_pos.south) -- ++(0,-0.5) -- ++(-4,0)-- ++(0,9)-- ++(4,0);
	\end{tikzpicture}
	\caption*{Figure 3.5: Program structure of the \textit{phantom\_control} \textit{node}.}
	\label{fig:phantom_control}
\end{figure}

\pagebreak
%\newline


In Chapter 4, Robot's demonstrations, in the paragraph before Figure 4.2 there is a missing sentence. The following sentence is to be added at the end of the paragraph: \textit{'In all of the demonstrations, the used arrangement of the load cells in the robor's feet is depicted in Figure 4.2.1 where the red cells correspond to the LSB-10 and the blue cells to the LBS-5.'}

After Figure 4.2, the Figure 4.2.1 is added as follows.

\begin{figure}[H]
  \centering
  \includegraphics[width=0.9\textwidth]{Imagens/cells.pdf}
  \captionof*{figure}{Figure 4.2.1: Load cells arrangement for the demonstrations.}
  \label{fig:power_source}
\end{figure}


\end{document}
