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Author SHA1 Message Date
c4993f6540 wip 2025-02-28 17:24:40 +03:00
7dbdc345da npm to yarn ci 2025-02-13 17:49:03 +03:00
973e213c9f update ci image to 23.3.0-alpine3.21 2025-02-13 17:48:39 +03:00
d4be2dbfc0 update deps to latest 2025-02-13 17:44:23 +03:00
11afe8ef72 tailwind + new images 2025-02-12 12:50:28 +03:00
86145d6c26 yarn -> npm, docusaurus v2 -> v3; add tailwindcss, mdx 2025-02-11 23:11:11 +03:00
c2e95a3296 wip 2025-02-11 18:24:58 +03:00
3d7aea9f8f nixify repo 2025-02-11 15:17:34 +03:00
1b62cb85ce upd 2025-01-23 10:09:40 +03:00
88cec7b7b6 main page refactor to cards 2025-01-22 16:08:36 +03:00
5091da0eac rm plan 2025-01-22 11:56:02 +03:00
55 changed files with 6239 additions and 5924 deletions

135
.gitignore vendored
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# Production
/build
.env
# Generated files
.docusaurus
.cache-loader
@ -14,9 +14,138 @@
.env.development.local
.env.test.local
.env.production.local
.vs
npm-debug.log*
yarn-debug.log*
yarn-error.log*
.vscode
# Logs
logs
*.log
npm-debug.log*
yarn-debug.log*
yarn-error.log*
lerna-debug.log*
.pnpm-debug.log*
# Diagnostic reports (https://nodejs.org/api/report.html)
report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json
# Runtime data
pids
*.pid
*.seed
*.pid.lock
# Directory for instrumented libs generated by jscoverage/JSCover
lib-cov
# Coverage directory used by tools like istanbul
coverage
*.lcov
# nyc test coverage
.nyc_output
# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
.grunt
# Bower dependency directory (https://bower.io/)
bower_components
# node-waf configuration
.lock-wscript
# Compiled binary addons (https://nodejs.org/api/addons.html)
build/Release
# Dependency directories
node_modules/
jspm_packages/
# Snowpack dependency directory (https://snowpack.dev/)
web_modules/
# TypeScript cache
*.tsbuildinfo
# Optional npm cache directory
.npm
# Optional eslint cache
.eslintcache
# Optional stylelint cache
.stylelintcache
# Microbundle cache
.rpt2_cache/
.rts2_cache_cjs/
.rts2_cache_es/
.rts2_cache_umd/
# Optional REPL history
.node_repl_history
# Output of 'npm pack'
*.tgz
# Yarn Integrity file
.yarn-integrity
# dotenv environment variable files
.env
.env.development.local
.env.test.local
.env.production.local
.env.local
# parcel-bundler cache (https://parceljs.org/)
.cache
.parcel-cache
# Next.js build output
.next
out
# Nuxt.js build / generate output
.nuxt
dist
# Gatsby files
.cache/
# Comment in the public line in if your project uses Gatsby and not Next.js
# https://nextjs.org/blog/next-9-1#public-directory-support
# public
# vuepress build output
.vuepress/dist
# vuepress v2.x temp and cache directory
.temp
.cache
# Docusaurus cache and generated files
.docusaurus
# Serverless directories
.serverless/
# FuseBox cache
.fusebox/
# DynamoDB Local files
.dynamodb/
# TernJS port file
.tern-port
# Stores VSCode versions used for testing VSCode extensions
.vscode-test
# yarn v2
.yarn/cache
.yarn/unplugged
.yarn/build-state.yml
.yarn/install-state.gz
.pnp.*

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@ -1,4 +1,4 @@
image: node:16.15.1-alpine3.16
image: node:23.3.0-alpine3.21
stages:
- test

674
LICENSE
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@ -1,674 +0,0 @@
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to choose that version for the Program.
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15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) 2021 Igor Brylyov
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
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but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) 2021 Igor Brylyov
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

38
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@ -0,0 +1,38 @@
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"type": "xpath",
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@ -68,7 +68,7 @@ _В этой заметке один из участников проекта А
### I акт. Создание общего плана (происхождение замысла). Акт творческий (интуиция)
На этом этапе определяется, что хочет проектировщик. Проектирование машины предполагает, что условия задачи ясно осознаны. Это творческий акт конструирования идеи машины, удовлетворяющей всем поставленным условиям. Он распадается на две стадии:
1. Творчество, дающее идею (идея уже есть полное решение задачи, это полная машина со всеми деталями, которые еще только не видны): «процесс проектирования начинается с возникновения в уме изобретателя темной идеи, которая есть неясное, но полное решение задачи» (убеждение в том, что это лучшее решение, пока основано на вере); на этом этапе главное — изобретательность и личный опыт. Идея машины представляется самому ее носителю загадкой, он вглядывается в нее, вынашивает идею, «думает о ней». «Эта работа, по-моему, должна происходить исключительно умозрительным путем. Бумага и карандаш, которые дальше окажутся необходимыми, теперь наоборот только могут помешать, и это по двум причинам: во-первых, потому, что бумага имеет только два измерения, между тем как машина почти всегда имеет три, пока стоит, и четыре, пока движется; во-вторых, потому, что теперь всего нужнее припомнить как можно больше разных механизмов и чтобы они готовы были несколько видоизменяться и прилаживаться к требованиям идеи-сфинкса; а это возможно только при образах воображаемых».
2. Внутреннее чтение идеи для выяснения главных частей, в результате которого составится общий план машины. Память и конструктивное воображение — вот деятели первого акта во второй его половине. «Первый акт проектирования окончен, когда идея машины возникла и изобретатель настолько ее распознал, что уяснил себе общий план машины, т. е. ее характер и главные рабочие органы». Теперь идея машины представляется в виде «карты» малоизученной земли — есть оазисы, но еще много белых пятен, их связывающих областей. Результат этого акта — принцип машины, в котором выражена сама ее суть. Он дает то, что хотя и не достаточно, но необходимо для достижения данного эффекта. Принцип характеризует целый ряд машин, самое существенное в них. II акт. Выработка схемы {логическое представление).
2. Внутреннее чтение идеи для выяснения главных частей, в результате которого составится общий план машины. Память и конструктивное воображение — вот деятели первого акта во второй его половине. «Первый акт проектирования окончен, когда идея машины возникла и изобретатель настолько ее распознал, что уяснил себе общий план машины, т. е. ее характер и главные рабочие органы». Теперь идея машины представляется в виде «карты» малоизученной земли — есть оазисы, но еще много белых пятен, их связывающих областей. Результат этого акта — принцип машины, в котором выражена сама ее суть. Он дает то, что хотя и не достаточно, но необходимо для достижения данного эффекта. Принцип характеризует целый ряд машин, самое существенное в них. II акт. Выработка схемы "логическое представление".
### II Акт. Научный (знание)
На этом этапе выясняется, что может проектировщик. «Второй акт получает машину в виде нескольких отдельно стоящих органов, и задача его заключается в том, чтобы выработать промежуточные члены и чтобы получить таким образом полную схему машины». Теперь конструктора занимают образы не столько формы, сколько движения. Здесь фактически дается кинематическое представление машины, но в более общем виде: речь идет о применении не только кинематики, а и математики, физики, механики, вообще естествознания, науки в собственном смысле слова [ 32, с. 47]. Творческий элемент здесь играет все еще важную роль, поскольку продолжается искание: математика только облегчает приемы искания, естествознание дает самый материал для искания, но руководит этим исканием и выбором все та же «идея-сфинкс». На этом этапе выясняются все промежуточные органы, их расположение, главные размеры будущих деталей и т. д. Второй акт ведется с помощью карандаша и бумаги. Здесь еще рано перелистывать справочники (это может только помешать), а нужны теоретические руководства. В результате второго акта «машина предстанет перед нами вся, во всех частях, но только изображенная схематически». Второй акт дает схему (для сооружения), систему (для машины) или план (для действия). Схема дает то, что необходимо и достаточно для эффекта, т. е. полное идейное содержание данного изобретения (или проекта), полную мысль о нем. Говоря о системе машины, мы отвлекаемся от ее вещественной формы, а берем только ее схему. План для известного действия — все равно что схема для сооружения и система для машины (к способам производства, например, лучше подходит слово «план»).

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@ -1,45 +0,0 @@
---
title: План разработки
---
План разработки самосборочной линии для роботов манипуляторов
### Этап 1 (апрель-май 2021)
1. Унификация элементной базы манипулятора
2. Задача подбора материала-наполнителя для звена манипулятора; Провести совещание по теме;
3. Задача подбора сменных инструментов; на выходе - перечень требуемых инструментов;
4. Спецификация производственной системы - станок 5-осевой, станок токарный, пресс, три манипулятора (4-5 шт), набор рабочих столов, тележка-транспортёр;
5. Компоновка манипулятора (технология сборки) - разделение подсборки/узлы
6. Разработка технологических карт в привязке к узлам - после п.1
7. Стандарт публикации технологических карт;
8. Создание кинематической модели манипулятора в Gazebo;
9. Проработать экспорт Solidworks -> URDF (https://blogs.solidworks.com/teacher/wp-content/uploads/sites/3/WPI-Robotics-SolidWorks-to-Gazebo.pdf);
### Этап 2 (июнь-август 2021)
1. Проработка технологий для сборки манипулятора (адаптеры, вспомогательные рабочие столы для стыковки с ЧПУ и другими элементами сборочной линии)
2. Архитектура автоматизированного рабочего места (АРМ)
3. Технологические карты сборки манипулятора
### Этап 3 (сентябрь-ноябрь 2021)
1. Разработка инструментальной части манипулятора (приспособления для захвата и других операций)
2. Разработка модели сборки манипулятора с помощью АРМ
### Этап 4 (декабрь 2021 - январь 2022)
1. Проработка технологий сборки АРМа (адаптер, рабочий стол)
2. Разработка технологических карт сборки
3. Программирование
### Этап 5 (февраль-март 2022)
1. Проработка технологий сборки сервопривода
2. Разработка технологических карт сборки сервопривода
3. Программирование
## Результат проекта
Динамическая модель автономной сборочной линии для роботов манипуляторов
## Команда
* Конструкторы-технологи: [Станислав Сгонов](https://gitlab.com/StasjokSS), [Сергей Бикмаев](https://gitlab.com/proton-fx)
* Лидер команды: [Игорь Брылёв](https://gitlab.com/movefasta)
* Системные инженеры: [Алексей Топтун](https://gitlab.com/AlexxTop), [Александр Оликевич](https://gitlab.com/openfablab)

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@ -3,15 +3,16 @@ title: Обзор проекта
slug: /
---
Цель проекта - создание ___симуляции___ автономной производственной линии, где роботы-манипуляторы собирают свои копии, осуществляют их наладку и ввод в эксплуатацию, чем достигается частичное самовоспроизводство. Проектирование _изначально автономной_ производственной системы позволит использовать материалы, технологии и условия эксплуатации, недопустимые для классических промышленных систем.
Цель проекта Robossembler - создание свободных для использования и модификации робототехнических комплексов, позволяющих каждому желающему приобщиться к их разработке и производству.
## Аппаратные компоненты
### Роботы-манипуляторы
Роботы-манипуляторы Robossembler со сменными инструментами покрывают большой класс производственных задач. Они проектируются для автономной сборки и эксплуатации, поэтому к ним не предъявляются характерные для коллаборативных роботов требования безопасности, эстетичности и быстродействия.
В проекте разрабатываются два варианта исполнения манипулятора:
- [Манипулятор](https://gitlab.com/robossembler/roboarm) с 6-ю степенями свободы для изготовления с помощью литья в [прессформе](https://gitlab.com/robossembler/cnc/roboarm-link-mold). Звено данного манипулятора состоит из двух оригинальных [сервоприводов](https://gitlab.com/robossembler/servo) и производится методом заливки компаундом, перестановкой оснастки на позицию будущего звена и дальнейшей закладкой приводов и кабелей. Данное технологические решение позволяет избавиться от крепёжных, кабельных и ременных соединений, а также необходимости отдельно производить корпус. Материал компаунда подбирается таким образом, чтобы обеспечить оптимальный теплоотвод, дешевизну, удобную утилизацию и повторную переработку компонентов манипулятора. Типы компаунда могут варьироваться в зависимости от нагрузок на конкретные разновидности звеньев.
- [Манипулятор](https://gitlab.com/robossembler/roboarm-diy-version) с 6-ю степенями свободы для изготовления с помощью 3D-печати. Все детали манипулятора, кроме электрических плат, проводов и катушек индуктивности, изготавливаются с помощью технологии трёхмерной печати, но могут и отливаться в прессформах. Конструкция манипулятора адаптирована для автономной автоматической сборки.
- [Манипулятор](https://gitlab.com/robossembler/roboarm) с 6-ю степенями свободы для изготовления с помощью литья в [прессформе](https://gitlab.com/robossembler/cnc/roboarm-link-mold). Звено данного манипулятора состоит из двух оригинальных [сервоприводов](https://gitlab.com/robossembler/servo) и производится методом заливки компаундом, перестановкой оснастки на позицию будущего звена и дальнейшей закладкой приводов и кабелей. Данное технологические решение позволяет избавиться от крепёжных, кабельных и ременных соединений, а также необходимости отдельно производить корпус. Материал компаунда подбирается таким образом, чтобы обеспечить оптимальный теплоотвод, дешевизну, удобную утилизацию и повторную переработку компонентов манипулятора. Типы компаунда могут варьироваться в зависимости от нагрузок на конкретные разновидности звеньев.
### Приспособления для манипуляторов
Все приспособления монтируются к манипулятору через [стыковочный интерфейс](https://gitlab.com/robossembler/arm-tools/connection-tool). Для смены и хранения двух и более приспособлений используется [Библиотека приспособлений](https://gitlab.com/robossembler/arm-tools/tools-library), к которой в дальнейшем будут присоединяться узлы подачи материалов.
@ -28,25 +29,25 @@ slug: /
Рабочий стол и подключённые к нему манипуляторы с приспособлениями формируют Автоматизированное рабочее место (АРМ), которое может быть объединено с другими рабочими местами, формируя сложные производственные комплексы. Конфигурация конкретного АРМ формируется исходя из требований к производственному процессу.
### Оборудование для формирования модульных рабочих пространств
- [Модульный каркас для роботизированных ячеек](https://gitlab.com/robossembler/cnc/cubic-modular-workspace). Состоит из компонентов двух типов:
- *Пластины* служат стыковочным интерфейсом для подключения роботов манипуляторов и их приспособлений. Также в них могут размещаться компоненты встраиваемой электроники для управления подключаемым оборудованием.
- *Стойки* обеспечивают электрическое соединение между пластинами для передачи электронергии и управляющих сигналов. Модульная архитектура каркаса позволяет собирать разноообразные роботизированные ячейки под нужды технологического процесса и объединять их в производственные линии.
- [Шестигранные рабочие столы](https://gitlab.com/robossembler/cnc/roboarm-workspace). Роботы-манипуляторы оснащаются рабочими столами - местами, где будет осуществляться сборка и другие технологические операции. Рабочий стол имеет форму пчелиной соты и содержит в себе вычислительный узел для управления рабочим местом. Столы предполагают:
- Легкое подключение к ним манипуляторов с помощью специальных надёжных электрических разъемов
- Электропитание и управление - рабочий стол будет включать в себя систему управления для всех подключаемых к нему манипуляторов
- Подключение к себе других рабочих столов для создания связанной локальной сети и производственной линии
- Подключение к рабочим столам [транспортных модулей](https://gitlab.com/robossembler/transport-module) для превращения их в передвижные платформы.
- [Модульный каркас для роботизированных ячеек](https://gitlab.com/robossembler/cnc/cubic-modular-workspace). Состоит из компонентов двух типов:
- *Пластины* служат стыковочным интерфейсом для подключения роботов манипуляторов и их приспособлений. Также в них могут размещаться компоненты встраиваемой электроники для управления подключаемым оборудованием.
- *Стойки* обеспечивают электрическое соединение между пластинами для передачи электронергии и управляющих сигналов. Модульная архитектура каркаса позволяет собирать разноообразные роботизированные ячейки под нужды технологического процесса и объединять их в производственные линии.
## Программные компоненты
Все программные компоненты в совокупности составляют собой *фреймворк* для симуляции и отладки алгоритмов сборки сложных многосоставных изделий манипуляторами.
- [ARBench](https://gitlab.com/robossembler/forks/ARBench) - плагин для *FreeCAD*. Основные функции:
- [Framework](https://gitlab.com/robossembler/framework). Основные функции:
- разметка CAD моделей изделий - геометрические фреймы, позиции захвата, материалы
- парсинг моделей сборок CAD и представление их в виде моделей отдельных деталей и мета-информации об их взаимном расположении (матрица смежности или подобное представление)
- преобразование моделей в последовательность сборки (*Assembly Sequence, AS*) с помощью *Assembly Sequence Planner*
- формирование спецификации задачи в формате *Planning Domain Definition Language (PDDL)*
- экспорт деталей и подсборок в виде пакетов формата *Simulation Description Format (SDF)* для загрузки в симулятор *Gazebo*
* [Robossembler](https://gitlab.com/robossembler/robossembler-ros2) - набор пакетов для *ROS2*. Основные функции:
* [Runtime](https://gitlab.com/robossembler/robossembler-ros2) - набор пакетов для *ROS2*. Основные функции:
- отслеживание событий в блокчейне *Robonomics* с помощью python-библиотеки *robonomics-interface*
- загрузка данных из сети IPFS с помощью python-библиотеки *ipfshttpclient*
- формирование плана исполнения (*Task Plan, TP*) в соответствии со спецификациями предметной области (*domain*) и задачи (*problem*) на языке PDDL

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# Презентация "Nix/NixOS - ОС-независимая сборка пакетов ROS" на ROS-Meetup'2023
Для просмотра скопируйте содержимое директории и откройте `ros-meetup-slides.html` в любом браузере.

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---
marp: true
theme: uncover
paginate: true
---
<!--
Чтобы сгенерировать из этого файла презентацию в pdf, html или pptx, нужно воспользоваться утилитой Marp https://marp.app/ или одноимённым расширением VSCode https://marketplace.visualstudio.com/items?itemName=marp-team.marp-vscode.
-->
# Nix/Nixos
ОС-независимая сборка пакетов ROS
|
Брылёв Игорь
robossembler.org
---
# Что же такое ROS?
<!--
В сообществе часто спорят по поводу того чем является или не является ROS. ROS звучит буквально как операционная система для роботов, однако де-факто операционной системой не является. Как правило, все сходятся на том, что ROS включает в себя много разных сущностей - это и стандарт, и фреймворк, и формат взаимодействия приложений, и непосредственно программное обеспечение - стандартная библиотека, если хотите. Но конкретно в этом докладе я бы хотел поговорить о ROS в немного другом свете - как о системе сборки и дистрибьюции программного обеспечения, что тоже имеет место быть. Причём этот аспект я считаю весьма важным, потому что почти любое ROS-приложение в среднем на 95% состоит из подгруженного из пакетных репозиториев кода, из которых на долю ROS-экосистемы приходится меньшая часть.
-->
* Стандарт
* Фреймворк
* Набор форматов
* ...
* Система сборки и дистрибьюции ПО
---
<!--
Итак метод сборки и дострибьюции пакетов в ROS в значительной опирается на пакетных менеджер apt и пакетные базы debian/ubuntu (по статистике ros index 2100 пакетов представляют собой системные зависимости, предоставляемые операционной системой), а следовательно зависит от них. Многие пакеты ROS-экосистемы представляют в качестве рекомендуемого способа установки именно установку из своих репозиториев собранных заранее бинарных пакетов. Компиляция проектов их исходников редко практикуется и достаточно сложна. В целом, apt свойственны следующие проблемы.
-->
### Проблемы пакетных менеджеров
* Апгрейд конфигурации безвозвратно изменяет состояние системы
* Сборки не детерминированы
* Не поддерживаются разные версии бинарников и библиотек
* Конфликты пакетов
---
#### Проблемы управления зависимостями в ROS
* Зависимость от Ubuntu и её системных зависимостей (apt-пакеты)
* Сложность интеграции с ПО вне ROS-экосистемы
* Подготовить для удобного запуска сложный ROS-проект - трудоёмкая задача
---
# Тренды
* Из набора библиотек для одного робота ROS становится стандартом для роботизированных кибер-физических систем
* В робототехнику проникают инструменты из других ниш: web, машинное обучение, DevOps
---
<!--
Когда рассказываешь про nix часто у инженеров возникает прочная ассциация с Docker. А не решает ли Docker ту же самую проблему? Да, действительно, эти инструменты решают одну и ту же проблему, которую можно было бы кратко сформулировать так
-->
# А как же Docker?
---
<!--
С проблемой сталкиваются нууууу почти все - от первой линии службы технической поддержки до программистов. Это проблема состояния окружения - если ваша программа или приложение в какой-то степени опирается на него, то неизбежно будут возникать проблемы с его корректной работы на компьютерах с другим окружением.
-->
![](reproducible-testing.jpg)
---
<!-- Как добиться того, чтобы программа запущенная успешно на одном компьютере, была также успешно запущена на другом? Современные проекты представляют собой зачастую сложную комбинацию инструментов, библиотек и обеспечить воспроизводимость в этих условиях непросто. Классическое управление зависимостями в Linux-системах не позволяло добиться хорошей воспроизводимости. Docker появился во многом в ответ на эту проблему плохого управления зависимостями в операционной системе. Как это решил Docker? -->
# "В"
воспроизводимость
---
<!-- Как мы знаем, Docker создаёт своеобразную песочницу вокруг вашего приложения и вы передаёте его вместе с ней, чтобы состояние машины пользователя не влияло на работоспособность. Идеальная картика выглядит так: на входе Dockerfile, на выходе Образ. Вроде всё круто -->
# Теория
Dockerfile -> Image
---
<!-- Но де-факто с одним и тем же докерфайлом вы можете получить кучу разных образов. Почему так происходит? -->
# Реальность
Dockerfile -> Image1 || Image2 ... ImageN
---
<!--
Если посмотреть вглубь, то можно обнаружить, что в типичном Docker-файле для ROS есть сразу несколько мест, которые сделают вашу сборку невоспроизводимой на другом компьютере:
1. hub.docker.com
2. apt-репозиторий
3. rosdep-репозиторий
3. файл, взятый по имени
Но есть другие недостатки:
1. Возможность комбинировать зависимости (docker позволяет создавать контейнеры только наследуя от одного базового - нельзя добавить несколько базовых контейнеров)
2. Необходимость тянуть с собой все зависимости, даже если они представлены в системе
-->
# Типичный Dockerfile для ROS
FROM ros:foxy-ros-base-focal
...
RUN rosdep update && apt-get update
...
RUN apk add --no-cache python g++ make
...
RUN curl -sSL http://get.gazebosim.org | sh
...
CMD [ "ros2", "launch", "app", "app_bringup.launch.py" ]
---
<!-- # Что предлагает Nix? -->
# Ключевая идея nix
Описывать сборку в виде _чистой функции_ или уравнения(derivation), результат исполнения строго детерминирован входными параметрами.
---
<!-- Именно эта идея и легла в основу диссертации автора nix под названием ___, где как раз и описывались недостатки классической системы использования динамических библиотек в unix-подобных системах. Данный подход получил название декларативным в противовес императивного. -->
![](eelco.jpeg)
Eelco Dolstra
## The Purely Functional Software Deployment Model
PhD Thesis'2006
https://edolstra.github.io/pubs/phd-thesis.pdf
---
# Парадигмы программирования
* Императивная (как?) - C, C++, Java
* Декларативная (что?) - Lisp, Prolog, Nix
---
<!--
nix использует функциональный язык программирования для описания процесса сборки. Тут можно сделать некоторое отступление о том, что ROS создан робототехниками для робототехников, а у них по прежнему был и остаётся доминирующим императивный подход к программированию, что обусловлено высокими требованиями к производительности и реальному времени исполнения. Собственно, императивная парадигма распространилась не только на сферу низкоуровневых программ, но и на управление операционной системой. Однако, сфера сборки ПО не требует гарантий реального времени или высокой производительности, в ней куда важнее как раз воспроизводимость, отсутствие неявных обращений к состоянию системы.
-->
# Парадигмы конфигурации
* Императивная конфигурация (apt)
- Изменение состояния (dependency hell, неконсистентные состояния)
* Декларативная конфигурация (nix)
- Пакеты = иммутабельные переменные (нельзя изменить напрямую, только через функцию)
- Одно и то же nix-выражение даёт всегда один и тот же результат
---
<!-- как выглядит типичное Nix-выражение. Это уравнение превращается в такой json-образный файл, где и прописаны все версии с хэшами конкретных зависимостей. Этот файл и является по сути инструкцией или чистой функцией, на выходе которой мы получаем конкретные артефакты в виде пакетов, бинарников, динамических библиотек и т.п. -->
{
pname = "hello";
version = "2.12.1";
src = fetchurl {
url = "http://github.com/hello-${version}.tar.bz2";
sha256 = "0x2g1jqy...";
};
buildInputs = [ libbar perl ncurses ];
buildPhase = ''gcc hello.c -o hello'';
installPhase = ''mkdir -p $out/bin && cp hello $out/bin'';
}
---
{
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
"env": {
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
"out": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1",
"src": "/nix/store/pa10z4ngm0g83kx9mssrqzz30s84vq7k-hello-2.12.1.tar.gz",
"stdenv": "/nix/store/b09v23lirgvci3wzszh22mbkdfj0h0yq-stdenv-linux",
"version": "2.12.1"
},
"inputDrvs": {
"/nix/store/0hnjp6s8k71xm62157v37zg3qzwvl8lx-bash-5.2-p15.drv": [ "out" ],
"/nix/store/8n3ib41pb90nkq3vv49z520qinf4q9c0-hello-2.12.1.tar.gz.drv": [ "out" ],
"/nix/store/r2h029bx2fbyxxj84s5hf1abp2vfkah2-stdenv-linux.drv": [ "out" ]
},
"inputSrcs": [ "/nix/store/6xg259477c90a229xwmb53pdfkn6ig3g-default-builder.sh" ],
"outputs": {
"out": { "path": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1" }
},
"system": "x86_64-linux"
}
}
---
<!-- А вот как это выглядит на диске. Заметьте, имя каждого пакета снабжается хэшом, который позволяет избежать коллизий при совпадении имён и даже совпадении имён и версий, а ещё даёт использовать несколько версий библиотеки одновременно. Откуда берётся этот хэш? -->
$ ls /nix/store/ | grep humble
00z4hg8q0cxhsl5jq4s7iq81zz54j8vy-ros-humble-ament-lint-common-0.12.5-r1
01nvrmwbf0zbchb3d25kb49rl8jzspv6-ros-humble-ament-cmake-cppcheck-0.12.5-r1
02gdrzn2yrngmqih4hq0j17vj2hgiiz3-ros-humble-unique-identifier-msgs-2.2.1-r3
08s5gvg7gaypllyxvzd17w21ijqx3hgd-ros-humble-tf2-msgs-0.25.2-r1
0hwva9zk3250hd6spwq11ayk0aq4flnm-ros-humble-control-msgs-4.1.0-r1
---
<!-- Собственно этот хэш и получается с помощью криптографической хэш-функции применённой ко всем входным зависимостям -->
![width:900px](drv-cryptohash.png)
---
<!-- Вы не полагаетесь на apt, можете при желании собрать систему полностью из исходников. -->
# Что это даёт для ROS?
* Возможность запустить проект ROS на любой ОС, даже без apt
* Контролируемое управление зависимостями
* Возможность использования разных версий одних и тех же пакетов и библиотек
* Детерминированные сборки одной командой
* CACHE!!!
---
<!--
-->
# Основные компоненты nix
* Nix (менеджер пакетов и язык программирования)
* Nixpkgs (репозиторий пакетов и стандартная библиотека)
* NixOS (операционная система)
* NixOps (DevOps инструмент)
---
<!--
# Текущее состояние nixpkgs -->
![width:1000px](map_repo_size_fresh-2018-06-08.svg)
---
## Nix ROS Overlay
https://github.com/lopsided98/nix-ros-overlay
Автоматическая генерация nix-выражений для сборки пакетов ROS из официальных репозиториев (github:ros/rosdistro).
---
{ lib, buildRosPackage, fetchurl, ament-cmake ... }:
buildRosPackage {
pname = "ros-rolling-std-msgs";
version = "4.6.1-r1";
src = fetchurl {
url = "https://github.com/ros2-gbp/common_interfaces/std_msgs/4.6.1-1.tar.gz";
name = "4.6.1-1.tar.gz";
sha256 = "87eee895c2c60a8335ae2a63b05f99773f0897e451e5bf7f45a14a6c36295640";
};
buildType = "ament_cmake";
buildInputs = [ ament-cmake rosidl-default-generators ];
checkInputs = [ ament-lint-common ];
propagatedBuildInputs = [ builtin-interfaces rosidl-default-runtime ];
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
meta = {
description = ''A package containing some standard message definitions.'';
license = with lib.licenses; [ asl20 ];
};
}
---
# Недостатки
* Пологая кривая обучения
* Некоторая разрозненность документации
* Не все пакеты ROS адаптированы в nix
* Необходимость сборки мусора
---
# Полезные ресурсы
![width:200px](nix-snowflake.svg)
Русскоязычное сообщество Telegram
@ru_nixos
Туториал для новичков
zero-to-nix.com

View file

@ -1,10 +1,16 @@
/** @type {import('@docusaurus/types').DocusaurusConfig} */
const math = require('remark-math');
const katex = require('rehype-katex');
module.exports = {
import {themes as prismThemes} from 'prism-react-renderer';
import type {Config} from '@docusaurus/types';
import type * as Preset from '@docusaurus/preset-classic';
import remarkMath from 'remark-math';
import rehypeKatex from 'rehype-katex';
// This runs in Node.js - Don't use client-side code here (browser APIs, JSX...)
const config: Config = {
title: 'Robossembler',
tagline: 'Отворённая Робототехника',
url: 'https://robossembler.gitlab.io',
url: 'https://robossembler.org',
baseUrl: '/',
onBrokenLinks: 'throw',
onBrokenMarkdownLinks: 'warn',
@ -20,13 +26,10 @@ module.exports = {
src: 'img/logo.svg',
},
items: [
{
to: 'docs/',
activeBasePath: 'docs',
label: 'Документация',
position: 'left',
},
{to: 'blog', label: 'Проекты', position: 'left'},
{to: 'blog', label: 'Новости', position: 'left'},
{to: 'blog', label: 'Команда', position: 'left'},
{to: 'blog', label: 'Как помочь', position: 'left'},
{
href: 'https://t.me/robossembler_ru',
label: 'Telegram',
@ -76,20 +79,25 @@ module.exports = {
],
copyright: `Copyleft © ${new Date().getFullYear()} Команда Robossembler, сайт сделан при помощи Docusaurus. ООО «Робосборище», ИНН 5024227970, ОГРН 1225000134677`
},
},
prism: {
theme: prismThemes.github,
darkTheme: prismThemes.dracula,
},
} satisfies Preset.ThemeConfig,
presets: [
[
'@docusaurus/preset-classic',
{
docs: {
sidebarPath: require.resolve('./sidebars.js'),
sidebarPath: require.resolve('./sidebars.ts'),
// Please change this to your repo.
editUrl:
'https://gitlab.com/robossembler/robossembler.gitlab.io/-/edit/master/',
showLastUpdateAuthor: true,
showLastUpdateTime: true,
remarkPlugins: [math],
rehypePlugins: [katex],
remarkPlugins: [remarkMath],
rehypePlugins: [rehypeKatex],
},
blog: {
showReadingTime: true,
@ -100,15 +108,34 @@ module.exports = {
theme: {
customCss: require.resolve('./src/css/custom.css'),
},
},
} satisfies Preset.Options,
],
],
stylesheets: [
{
href: 'https://cdn.jsdelivr.net/npm/katex@0.13.11/dist/katex.min.css',
href: 'https://cdn.jsdelivr.net/npm/katex@0.13.24/dist/katex.min.css',
type: 'text/css',
integrity:
'sha384-Um5gpz1odJg5Z4HAmzPtgZKdTBHZdw8S29IecapCSB31ligYPhHQZMIlWLYQGVoc',
'sha384-odtC+0UGzzFL/6PNoE8rX/SPcQDXBJ+uRepguP4QkPCm2LBxH3FA3y+fKSiJ+AmM',
crossorigin: 'anonymous',
},
],
plugins: [
async function myPlugin(context, options) {
return {
name: "docusaurus-tailwindcss",
configurePostCss(postcssOptions) {
postcssOptions.plugins = [
require('postcss-import'),
require('tailwindcss'),
require('autoprefixer'),
];
return postcssOptions;
},
};
},
],
};
export default config;

61
flake.lock generated Normal file
View file

@ -0,0 +1,61 @@
{
"nodes": {
"flake-utils": {
"inputs": {
"systems": "systems"
},
"locked": {
"lastModified": 1731533236,
"narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
"owner": "numtide",
"repo": "flake-utils",
"rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
"type": "github"
},
"original": {
"owner": "numtide",
"repo": "flake-utils",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1739275533,
"narHash": "sha256-vIDgZfJEwVGn7ky3ykEQ7FSOmK5I9ytrWjyEQqrZfgs=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "b64b41e8d6498e97643fd245a94874ecf9f50031",
"type": "github"
},
"original": {
"owner": "NixOS",
"ref": "master",
"repo": "nixpkgs",
"type": "github"
}
},
"root": {
"inputs": {
"flake-utils": "flake-utils",
"nixpkgs": "nixpkgs"
}
},
"systems": {
"locked": {
"lastModified": 1681028828,
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
"owner": "nix-systems",
"repo": "default",
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
"type": "github"
},
"original": {
"owner": "nix-systems",
"repo": "default",
"type": "github"
}
}
},
"root": "root",
"version": 7
}

30
flake.nix Normal file
View file

@ -0,0 +1,30 @@
{
description = "Robossembler Development Environments on Nix";
inputs = {
nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
flake-utils.url = "github:numtide/flake-utils";
};
outputs = { self, nixpkgs, flake-utils }:
flake-utils.lib.eachDefaultSystem
(system:
let
pkgs = import nixpkgs { inherit system; overlays = []; };
in
{
packages = {
frontend = pkgs.writeShellApplication {
name = "frontend";
runtimeInputs = [ pkgs.nodejs ];
text = ''
yarn install && yarn start
'';
};
};
devShells = {
default = pkgs.mkShell { packages = with pkgs; [ nodejs ]; };
};
}
);
}

View file

@ -1,5 +1,5 @@
{
"name": "robossembler.gitlab.io",
"name": "docusaurus-template",
"version": "0.0.0",
"private": true,
"scripts": {
@ -12,18 +12,31 @@
"serve": "docusaurus serve",
"write-translations": "docusaurus write-translations",
"write-heading-ids": "docusaurus write-heading-ids",
"build:gitlab": "docusaurus build --out-dir public"
"typecheck": "tsc"
},
"dependencies": {
"@docusaurus/core": "^2.1.0",
"@docusaurus/preset-classic": "^2.1.0",
"@mdx-js/react": "^1.6.21",
"clsx": "^1.1.1",
"hast-util-is-element": "1.1.0",
"react": "^17.0.1",
"react-dom": "^17.0.1",
"rehype-katex": "4",
"remark-math": "3"
"@docusaurus/core": "3.7.0",
"@docusaurus/preset-classic": "3.7.0",
"@mdx-js/react": "^3.0.0",
"clsx": "^2.0.0",
"prism-react-renderer": "^2.3.0",
"react": "^19.0.0",
"react-dom": "^19.0.0",
"rehype-katex": "7",
"remark-math": "6"
},
"devDependencies": {
"@docusaurus/module-type-aliases": "3.7.0",
"@docusaurus/tsconfig": "3.7.0",
"@docusaurus/types": "3.7.0",
"autoprefixer": "^10.4.20",
"postcss": "^8.5.2",
"prettier-plugin-tailwindcss": "^0.6.11",
"tailwind-merge": "^2.6.0",
"tailwindcss": "^3.4.17",
"tailwindcss-animate": "^1.0.7",
"@tailwindcss/typography": "^0.5.10",
"typescript": "~5.6.2"
},
"browserslist": {
"production": [
@ -32,9 +45,12 @@
"not op_mini all"
],
"development": [
"last 1 chrome version",
"last 1 firefox version",
"last 1 safari version"
"last 3 chrome version",
"last 3 firefox version",
"last 5 safari version"
]
},
"engines": {
"node": ">=18.0"
}
}

View file

@ -0,0 +1,15 @@
function tailwindPlugin(context, options) {
return {
name: "tailwind-plugin",
configurePostCss(postcssOptions) {
postcssOptions.plugins = [
require("postcss-import"),
require("tailwindcss"),
require("autoprefixer"),
];
return postcssOptions;
},
};
}
module.exports = tailwindPlugin;

View file

@ -1,4 +1,19 @@
module.exports = {
import type {SidebarsConfig} from '@docusaurus/plugin-content-docs';
// This runs in Node.js - Don't use client-side code here (browser APIs, JSX...)
/**
* Creating a sidebar enables you to:
- create an ordered group of docs
- render a sidebar for each doc of that group
- provide next/previous navigation
The sidebars can be generated from the filesystem, or explicitly defined here.
Create as many sidebars as you want.
*/
const sidebars: SidebarsConfig = {
// By default, Docusaurus generates a sidebar from the docs folder structure
docs: [
{
type: 'category',
@ -167,3 +182,5 @@ module.exports = {
},
],
};
export default sidebars;

View file

@ -0,0 +1,40 @@
import React from "react";
import clsx from "clsx";
import Link, { Props } from "@docusaurus/Link";
type ButtonProps = Props & {
variant: "primary" | "secondary";
};
export default function Button({
children,
variant,
className,
...rest
}: ButtonProps) {
const computedClassName = clsx(
"border font-bold h-12 px-6 flex items-center hover:no-underline transition-colors",
variant === "primary" &&
"bg-brand-500 text-gray-900 hover:bg-brand-600 border-brand-500 hover:border-brand-600 hover:text-gray-900",
variant === "secondary" &&
"border-gray-200 dark:border-gray-800 text-gray-900 dark:text-gray-50 bg-transparent hover:border-gray-900 dark:hover:border-gray-50 hover:text-gray-900 dark:hover:text-gray-50 aria-selected:border-gray-900 dark:aria-selected:border-gray-50",
className,
);
if ("href" in rest) {
return (
<Link {...rest} className={computedClassName}>
{children}
</Link>
);
}
return (
<button
{...(rest as unknown as React.ButtonHTMLAttributes<HTMLButtonElement>)}
className={computedClassName}
>
{children}
</button>
);
}

View file

@ -0,0 +1,49 @@
import React, { ComponentType, SVGProps } from "react";
import ExpandIcon from "../../icons/expand.svg";
import DotsIcon from "../../icons/dots.svg";
import ScaleIcon from "../../icons/scale.svg";
import LayersIcon from "../../icons/layers.svg";
import HumidityIcon from "../../icons/humidity.svg";
type GoalProps = {
icon: ComponentType<SVGProps<SVGSVGElement>>;
title: string;
description: string;
};
function Goal({ icon: Icon, title, description }: GoalProps) {
return (
<div className="bg-white dark:bg-blue-900 p-6">
<Icon className="w-12 mb-4" aria-hidden />
<h3 className="text-xl mb-2">{title}</h3>
<p className="text-gray-600 dark:text-gray-500">{description}</p>
</div>
);
}
export default function Goals() {
return (
<section className="py-6 md:py-12 mx-auto container px-4">
<h2 className="text-center text-3xl md:text-5xl font-bold mb-6 md:mb-12">
Наши принципы
</h2>
<div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-6">
<Goal
icon={ExpandIcon}
title="Open Source"
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
/>
<Goal
icon={DotsIcon}
title="Полная автоматизация"
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
/>
<Goal
icon={ScaleIcon}
title="Децентрализация"
description="Робосборщик выстраивает мост между инженерами, потребителями и производителями, позволяя добиться оптимального результата."
/>
</div>
</section>
);
}

View file

@ -0,0 +1,20 @@
import clsx from "clsx";
import React from "react";
type HeadlineProps = {
children: React.ReactNode;
className?: string;
};
export default function Headline({ children, className }: HeadlineProps) {
return (
<h1
className={clsx(
"text-3xl sm:text-4xl md:text-5xl lg:text-6xl font-bold leading-normal lg:leading-tight tracking-wider text-center px-4",
className,
)}
>
{children}
</h1>
);
}

View file

@ -0,0 +1,23 @@
import React from "react";
import Button from "../Button";
import PatternBg from "../PatternBg";
import Headline from "../Headline";
export default function Hero() {
return (
<header className="flex flex-col items-center py-10 md:py-20 px-6 md:px-16 mx-auto">
<PatternBg />
<Headline className="sm:max-w-2xl md:max-w-3xl lg:max-w-4xl">
Отворённые роботы
</Headline>
<p className="my-6 text-xl sm:max-w-lg md:max-w-xl lg:max-w-2xl text-center text-gray-600 dark:text-gray-500">
Мы в Robossembler создаём набор открытых технологий, чтобы самая современная робототехника стала доступной каждому
</p>
<div className="flex gap-4 pt-6">
<Button variant="primary" href="/docs/intro/install">
Проекты
</Button>
</div>
</header>
);
}

View file

@ -0,0 +1,11 @@
import React from "react";
import styles from "./styles.module.css";
export default function PatternBg() {
return (
<div className="absolute top-0 left-0 right-0 h-[600px] -z-10" aria-hidden>
<div className="absolute inset-0 z-10 bg-gradient-to-b from-transparent to-gray-50 dark:to-blue-950" />
<div className={`${styles.bg} w-full h-full opacity-5`} />
</div>
);
}

View file

@ -0,0 +1,3 @@
.bg {
background-image: url('data:image/webp;base64,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');
}

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import clsx from 'clsx';
import Link from '@docusaurus/Link';
import useBaseUrl from '@docusaurus/useBaseUrl';
// import styles from './index.module.css';
const features = [
{
title: 'Сервопривод',
imageUrl: 'img/servo-reducer-assembled.jpg',
description: (
<>
Сервопривод собственной разработки с оригинальным контроллером, outrunner-двигателем и прецессирующим редуктором. Конструкция привода оптимизирована для простой сборки с минимальным количеством комплектующих. Большая часть деталей может быть изготовлена на 3D-принтере, включая статор.
</>
),
repourl: 'https://gitlab.com/robossembler/servo',
},
{
title: 'Робот-манипулятор',
imageUrl: 'img/robossembler-arm.jpg',
description: (
<>
Реконфигурируемый шести-осевой робот-манипулятор без металлического крепежа с симметричным стыковочным интерфейсом. Количество компонентов изделия сведено к минимуму около 100 сборочных деталей. Дизайн подразумевает автоматическую сборку в перспективе такие роботы смогут собирать себя сами.
</>
),
repourl: 'https://gitlab.com/robossembler/roboarm-diy-version',
},
{
title: 'Станок намотки',
imageUrl: 'img/winder.jpg',
description: (
<>
Намоточная машина для автоматического производства статоров/роторов. Программа намотки генерируется автоматически, исходя из параметров двигателя, что позволяет использовать станок для разных конфигураций малогабаритных электродвигателей. Большинство деталей станка могут быть изготовлены на 3D-принтере.
</>
),
repourl: 'https://gitlab.com/robossembler/cnc/motor-wire-winder',
},
{
title: 'Фреймворк Робосборщик',
imageUrl: 'img/webservice.jpg',
description: (
<>
Программный комплекс для программирования и обучения роботов на базе современных технологий робототехники: ROS 2 Jazzy, Lifecycle Nodes, Behavior Tree,
</>
),
repourl: 'https://gitlab.com/robossembler/robossembler-ros2',
},
];
function Feature({ imageUrl, title, description }) {
const imgUrl = useBaseUrl(imageUrl);
return (
<div className={clsx('col col--6')}>
{imgUrl && (
<div>
<img src={imgUrl} alt={title} />
</div>
)}
<h1>{title}</h1>
<p>{description}</p>
</div>
);
}
export default function Home() {
return (
<div>
<h2 className="text-center text-3xl md:text-5xl font-bold mb-6 md:mb-12">
Проекты
</h2>
<main>
{features && features.length > 0 && (
<section>
<div className="container">
<div className="row">
{features.map((props, idx) => (
<Feature key={idx} {...props} />
))}
</div>
</div>
</section>
)}
</main>
</div>
);
}

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@ -1,25 +1,28 @@
/* stylelint-disable docusaurus/copyright-header */
/**
* Any CSS included here will be global. The classic template
* bundles Infima by default. Infima is a CSS framework designed to
* work well for content-centric websites.
*/
@tailwind base;
@tailwind components;
@tailwind utilities;
/* You can override the default Infima variables here. */
:root {
--ifm-color-primary: #25c2a0;
--ifm-color-primary-dark: rgb(33, 175, 144);
--ifm-color-primary-darker: rgb(31, 165, 136);
--ifm-color-primary-darkest: rgb(26, 136, 112);
--ifm-color-primary-light: rgb(70, 203, 174);
--ifm-color-primary-lighter: rgb(102, 212, 189);
--ifm-color-primary-lightest: rgb(146, 224, 208);
--ifm-color-primary: #2e8555;
--ifm-color-primary-dark: #29784c;
--ifm-color-primary-darker: #277148;
--ifm-color-primary-darkest: #205d3b;
--ifm-color-primary-light: #33925d;
--ifm-color-primary-lighter: #359962;
--ifm-color-primary-lightest: #3cad6e;
--ifm-code-font-size: 95%;
--docusaurus-highlighted-code-line-bg: rgba(0, 0, 0, 0.1);
}
.docusaurus-highlight-code-line {
background-color: rgb(72, 77, 91);
display: block;
margin: 0 calc(-1 * var(--ifm-pre-padding));
padding: 0 var(--ifm-pre-padding);
/* For readability concerns, you should choose a lighter palette in dark mode. */
[data-theme="dark"] {
--ifm-color-primary: #25c2a0;
--ifm-color-primary-dark: #21af90;
--ifm-color-primary-darker: #1fa588;
--ifm-color-primary-darkest: #1a8870;
--ifm-color-primary-light: #29d5b0;
--ifm-color-primary-lighter: #32d8b4;
--ifm-color-primary-lightest: #4fddbf;
--docusaurus-highlighted-code-line-bg: rgba(0, 0, 0, 0.3);
}

93
src/fonts/LICENSE Normal file
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Copyright 2014 The DM Sans Project Authors (https://github.com/googlefonts/dm-fonts)
This Font Software is licensed under the SIL Open Font License, Version 1.1.
This license is copied below, and is also available with a FAQ at:
https://openfontlicense.org
-----------------------------------------------------------
SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
-----------------------------------------------------------
PREAMBLE
The goals of the Open Font License (OFL) are to stimulate worldwide
development of collaborative font projects, to support the font creation
efforts of academic and linguistic communities, and to provide a free and
open framework in which fonts may be shared and improved in partnership
with others.
The OFL allows the licensed fonts to be used, studied, modified and
redistributed freely as long as they are not sold by themselves. The
fonts, including any derivative works, can be bundled, embedded,
redistributed and/or sold with any software provided that any reserved
names are not used by derivative works. The fonts and derivatives,
however, cannot be released under any other type of license. The
requirement for fonts to remain under this license does not apply
to any document created using the fonts or their derivatives.
DEFINITIONS
"Font Software" refers to the set of files released by the Copyright
Holder(s) under this license and clearly marked as such. This may
include source files, build scripts and documentation.
"Reserved Font Name" refers to any names specified as such after the
copyright statement(s).
"Original Version" refers to the collection of Font Software components as
distributed by the Copyright Holder(s).
"Modified Version" refers to any derivative made by adding to, deleting,
or substituting -- in part or in whole -- any of the components of the
Original Version, by changing formats or by porting the Font Software to a
new environment.
"Author" refers to any designer, engineer, programmer, technical
writer or other person who contributed to the Font Software.
PERMISSION & CONDITIONS
Permission is hereby granted, free of charge, to any person obtaining
a copy of the Font Software, to use, study, copy, merge, embed, modify,
redistribute, and sell modified and unmodified copies of the Font
Software, subject to the following conditions:
1) Neither the Font Software nor any of its individual components,
in Original or Modified Versions, may be sold by itself.
2) Original or Modified Versions of the Font Software may be bundled,
redistributed and/or sold with any software, provided that each copy
contains the above copyright notice and this license. These can be
included either as stand-alone text files, human-readable headers or
in the appropriate machine-readable metadata fields within text or
binary files as long as those fields can be easily viewed by the user.
3) No Modified Version of the Font Software may use the Reserved Font
Name(s) unless explicit written permission is granted by the corresponding
Copyright Holder. This restriction only applies to the primary font name as
presented to the users.
4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
Software shall not be used to promote, endorse or advertise any
Modified Version, except to acknowledge the contribution(s) of the
Copyright Holder(s) and the Author(s) or with their explicit written
permission.
5) The Font Software, modified or unmodified, in part or in whole,
must be distributed entirely under this license, and must not be
distributed under any other license. The requirement for fonts to
remain under this license does not apply to any document created
using the Font Software.
TERMINATION
This license becomes null and void if any of the above conditions are
not met.
DISCLAIMER
THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
OTHER DEALINGS IN THE FONT SOFTWARE.

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14
src/icons/LICENSE Normal file
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Copyright © Nucleo
Version 1.3, January 3, 2024
Nucleo Icons
https://nucleoapp.com/
- Redistribution of icons is prohibited.
- Icons are restricted for use only within the product they are bundled with.
For more details:
https://nucleoapp.com/license

4
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<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
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<path class="fill-brand-600" d="M12 40c-1.667 0-3.083-.583-4.25-1.75C6.583 37.083 6 35.667 6 34c0-1.667.583-3.083 1.75-4.25C8.917 28.583 10.333 28 12 28c1.667 0 3.083.583 4.25 1.75C17.417 30.917 18 32.333 18 34c0 1.667-.583 3.083-1.75 4.25C15.083 39.417 13.667 40 12 40Zm24 0c-1.667 0-3.083-.583-4.25-1.75C30.583 37.083 30 35.667 30 34c0-1.667.583-3.083 1.75-4.25C32.917 28.583 34.333 28 36 28c1.667 0 3.083.583 4.25 1.75C41.417 30.917 42 32.333 42 34c0 1.667-.583 3.083-1.75 4.25C39.083 39.417 37.667 40 36 40Z"/>
</svg>

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4
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<svg viewBox="0 0 48 48" fill="none" xmlns="http://www.w3.org/2000/svg">
<path d="M34 14V22H38V10H26V14H34Z" class="fill-brand-600"/>
<path d="M10 38V26H14V34H22V38H10Z" class="fill-brand-300"/>
</svg>

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4
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<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
<path class="fill-brand-300" d="m16.441 18.296 5.568 5.568-5.568 5.567a7.873 7.873 0 1 1 0-11.135Z"/>
<path class="fill-brand-600" d="m29.703 18.296-5.567 5.568 5.567 5.567a7.874 7.874 0 1 0 0-11.135Z"/>
</svg>

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5
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<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
<path class="fill-brand-200" d="m33.645 24.99-9.14 6.444-9.14-6.444 9.14-6.433L33.645 25v-.01Z"/>
<path class="fill-brand-300" d="M15.364 25 10 28.778 24.505 39l14.504-10.222L33.645 25l-9.14 6.443L15.365 25Z"/>
<path class="fill-brand-600" d="M33.636 25 39 21.222 24.505 11 10 21.222 15.364 25l9.14-6.443L33.646 25h-.01Z"/>
</svg>

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5
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<svg xmlns="http://www.w3.org/2000/svg" fill="none" viewBox="0 0 48 48">
<path class="fill-brand-600" d="M5.75 21.25C6.917 22.417 8.333 23 10 23c1.667 0 3.083-.583 4.25-1.75C15.417 20.083 16 18.667 16 17c0-1.667-.583-3.083-1.75-4.25C13.083 11.583 11.667 11 10 11c-1.667 0-3.083.583-4.25 1.75C4.583 13.917 4 15.333 4 17c0 1.667.583 3.083 1.75 4.25Z"/>
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@ -1,137 +0,0 @@
import React from 'react';
import clsx from 'clsx';
import Layout from '@theme/Layout';
import Link from '@docusaurus/Link';
import useDocusaurusContext from '@docusaurus/useDocusaurusContext';
import useBaseUrl from '@docusaurus/useBaseUrl';
import styles from './styles.module.css';
const features = [
{
title: 'Роботы-манипуляторы',
imageUrl: 'img/robossembler-arm.png',
description: (
<>
<ul>
<li><a href="https://gitlab.com/robossembler/roboarm-diy-version">Robossembler Arm</a> - 6-DoF манипулятор для изготовления с помощью 3D-печати</li>
<li><a href="https://gitlab.com/robossembler/roboarm">Манипулятор</a> - 6-DoF для изготовления с помощью литья в <a href="https://gitlab.com/robossembler/cnc/roboarm-link-mold" target="_blank" rel="noopener noreferrer">прессформе</a></li>
</ul>
</>
),
},
{
title: 'Приспособления',
imageUrl: 'img/grip-tool.png',
description: (
<>
<ul>
<li><a href="https://gitlab.com/robossembler/arm-tools/grip-tool" target="_blank" rel="noopener noreferrer">Механический захват</a> <i>прототипируется</i></li>
<li><a href="https://gitlab.com/robossembler/arm-tools/3d-print-tool" target="_blank" rel="noopener noreferrer">3D-печать</a>, <a href="https://gitlab.com/robossembler/arm-tools/extrude-melt-tool" target="_blank" rel="noopener noreferrer">Подача компаунда</a>, <a href="https://gitlab.com/robossembler/arm-tools/soldering-tool" target="_blank" rel="noopener noreferrer">Пайка</a>, <a href="https://gitlab.com/robossembler/arm-tools/welding-tool" target="_blank" rel="noopener noreferrer">Сварка</a>, <a href="https://gitlab.com/robossembler/arm-tools/post-processing-tool" target="_blank" rel="noopener noreferrer">Фрезерная и пост-обработка</a>, <a href="https://gitlab.com/robossembler/arm-tools/scan-tool" target="_blank" rel="noopener noreferrer">Сканирование и съёмка</a> <i>в разработке</i></li>
</ul>
</>
),
},
{
title: 'Серводвигатели',
imageUrl: 'img/motor.png',
description: (
<>
Оригинальные модели серводвигателей, ориентированные для автоматического производства
<ul>
<li><a href="https://gitlab.com/robossembler/roboarm-diy-version/-/tree/main/src/MOTOR" target="_blank" rel="noopener noreferrer">Сервопривод</a> для Robossembler Arm</li>
<li><a href="https://gitlab.com/robossembler/servo" target="_blank" rel="noopener noreferrer">Сервопривод</a> для литьевого манипулятора</li>
</ul>
</>
),
},
{
title: 'Производственные модули',
imageUrl: 'img/workspace.png',
description: (
<>
Новые способы масштабирования роботизированных ячеек
<li><a href="https://gitlab.com/robossembler/cnc/cubic-modular-workspace" target="_blank" rel="noopener noreferrer">Cubic</a> - ячейки на базе кубов</li>
<li><a href="https://gitlab.com/robossembler/cnc/roboarm-workspace" target="_blank" rel="noopener noreferrer">Hexagonal</a> - ячейки на базе плоских шестигранников</li>
</>
),
},
{
title: 'Прикладное ПО',
imageUrl: 'img/ros2.jpg',
description: (
<>
Разработка программного обеспечения с открытым исходным кодом для управления роботами
<ul>
<li><a href="docs/robossembler-framework/" target="_blank" rel="noopener noreferrer">Robossembler Framework</a> - комплекс ПО для автоматизации сборки произвольных изделий роботами-манипуляторами</li>
</ul>
</>
),
},
{
title: 'Инструменты поддержки CAD',
imageUrl: 'img/freecad.svg',
description: (
<>
Плагины к открытым системам проектирования для автоматизации разработки и производства
<ul>
<li><a href="https://gitlab.com/robossembler/forks/ARBench" target="_blank" rel="noopener noreferrer">ARBench</a> - плагин FreeCAD для подготовки изделий к роботизированной сборке</li>
</ul>
</>
),
},
];
function Feature({ imageUrl, title, description }) {
const imgUrl = useBaseUrl(imageUrl);
return (
<div className={clsx('col col--4', styles.feature)}>
{imgUrl && (
<div className="text--center">
<img className={styles.featureImage} src={imgUrl} alt={title} />
</div>
)}
<h3>{title}</h3>
<p>{description}</p>
</div>
);
}
export default function Home() {
const context = useDocusaurusContext();
const { siteConfig = {} } = context;
return (
<Layout
title={`${siteConfig.title}`}
description="Промышленная робототехника с открытыми конструкторской документацией и исходным кодом">
<header className={clsx('hero hero--primary', styles.heroBanner)}>
<div className="container">
<h1 className="hero__title">{siteConfig.title}</h1>
<p className="hero__subtitle">{siteConfig.tagline}</p>
<div className={styles.buttons}>
<Link
className={clsx(
'button button--outline button--secondary button--lg',
styles.getStarted,
)}
to={useBaseUrl('docs/')}>
Обзор репозиториев
</Link>
</div>
</div>
</header>
<main>
{features && features.length > 0 && (
<section className={styles.features}>
<div className="container">
<div className="row">
{features.map((props, idx) => (
<Feature key={idx} {...props} />
))}
</div>
</div>
</section>
)}
</main>
</Layout>
);
}

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@ -1,5 +1,3 @@
/* stylelint-disable docusaurus/copyright-header */
/**
* CSS files with the .module.css suffix will be treated as CSS modules
* and scoped locally.
@ -12,7 +10,7 @@
overflow: hidden;
}
@media screen and (max-width: 966px) {
@media screen and (max-width: 996px) {
.heroBanner {
padding: 2rem;
}
@ -23,15 +21,3 @@
align-items: center;
justify-content: center;
}
.features {
display: flex;
align-items: center;
padding: 2rem 0;
width: 100%;
}
.featureImage {
height: 200px;
width: 200px;
}

27
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@ -0,0 +1,27 @@
import React from "react";
import Layout from "@theme/Layout";
import Hero from "../components/Hero";
import Projects from "../components/Projects";
// import Supporters from "../components/Supporters";
// import FAQ from "../components/FAQ";
// import HowToContribute from "../components/HowToContribute";
import useDocusaurusContext from '@docusaurus/useDocusaurusContext';
import Goals from "../components/Goals";
export default function Home() {
const {siteConfig} = useDocusaurusContext();
return (
<Layout
title={siteConfig.title}
description="Промышленная робототехника с открытыми конструкторской документацией и исходным кодом">
<Hero />
<Goals />
<Projects />
{/* <Hero />
<HowToContribute />
<FAQ />
<Supporters /> */}
</Layout>
);
}

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const { fontFamily } = require("tailwindcss/defaultTheme");
/** @type {import('tailwindcss').Config} */
module.exports = {
corePlugins: {
preflight: false,
container: false,
},
darkMode: ["class", '[data-theme="dark"]'],
content: ["./src/**/*.{js,jsx,ts,tsx,svg}"],
theme: {
extend: {
fontFamily: {
sans: ['"Inter"', ...fontFamily.sans],
jakarta: ['"Plus Jakarta Sans"', ...fontFamily.sans],
mono: ['"Fira Code"', ...fontFamily.mono],
},
borderRadius: {
sm: "4px",
},
screens: {
sm: "0px",
lg: "997px",
},
colors: {
fontSize: {
"5xl": "2.5rem",
},
brand: {
900: "#332c05",
850: "#4d4107",
800: "#66570a",
700: "#b29911",
650: "#e6b600",
600: "#f0cd14",
500: "#ffda18",
400: "#ffe146",
300: "#ffe974",
200: "#fff0a3",
150: "#fff4ba",
100: "#fff8d1",
50: "#fffbe8",
},
gray: {
950: "#0D0E10",
900: "#1B1D20",
850: "#282B31",
800: "#353A41",
700: "#505661",
600: "#6A7382",
500: "#8590A2",
400: "#9DA6B5",
300: "#B6BCC7",
200: "#CED3DA",
150: "#DADEE3",
100: "#E7E9EC",
50: "#F9F9F9",
},
blue: {
950: "#0c192b",
900: "#14253D",
},
},
},
},
plugins: [
require("@tailwindcss/typography"),
],
};

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{
// This file is not used in compilation. It is here just for a nice editor experience.
"extends": "@docusaurus/tsconfig",
"compilerOptions": {
"baseUrl": "."
}
}

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