From 1addd4f595ef170c8406592bc810552a52092ea0 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Fri, 6 Dec 2024 12:05:53 +0300 Subject: [PATCH] update documentation and gitignore --- .gitignore | 2 + README.md | 63 +------- {doc => docs}/Doxyfile | 232 ++++++++++-------------------- {doc => docs}/en/add_new_robot.md | 0 {doc => docs}/en/index.md | 0 docs/en/installation.md | 35 +++++ {doc => docs}/ru/add_new_robot.md | 0 {doc => docs}/ru/index.md | 0 {doc => docs}/ru/installation.md | 0 9 files changed, 114 insertions(+), 218 deletions(-) rename {doc => docs}/Doxyfile (93%) rename {doc => docs}/en/add_new_robot.md (100%) rename {doc => docs}/en/index.md (100%) create mode 100644 docs/en/installation.md rename {doc => docs}/ru/add_new_robot.md (100%) rename {doc => docs}/ru/index.md (100%) rename {doc => docs}/ru/installation.md (100%) diff --git a/.gitignore b/.gitignore index f42d19d..5d3ba95 100644 --- a/.gitignore +++ b/.gitignore @@ -4,3 +4,5 @@ ref *.vscode **/tensorboard_logs/** **/logs/** +**/docs/_build/ +**/docs/build/ diff --git a/README.md b/README.md index 3e18377..5cfaccf 100644 --- a/README.md +++ b/README.md @@ -22,65 +22,6 @@ Repo for ROS2 packages related to Robossembler 10. `rbs_utils` - working with a config containing capture positions for details 11. `rbss_objectdetection` - Object Detection Skill Server using YOLOv8 -## Instructions -### Requirements -* OS: Ubuntu 22.04 -* ROS 2 Humble +[Installation instructon RU](./docs/ru/installation.md) -### Dependencies -These are the primary dependencies required to use this project. - -* MoveIt 2 - > Install/build a version based on the selected ROS 2 release -* Gazebo Fortress - -### Build - -1. Clone the repository -2. Build packages `colcon build` - - -Prepare workspace & install dependencies (So far only tested with UR robot arm) -```bash -mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src -git clone https://gitlab.com/robosphere/robossembler-ros2 -vcs import . < robossembler-ros2/repos/sim.rbs.repos -cd .. -rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble -colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install -``` - -Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following: -``` -# in directory robossembler_ws/src -vcs import . < robossembler-ros2/repos/cartesian_controllers.repos -``` -This will also install `ros2_control` and `gz_ros2_control` as packages, so it is recommended to delete global packages if they have been installed. - -### Set Gazebo enviroment variables -Replace `[WS_FOLDER]` with your workspace folder -```bash -echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc -# or if you have alredy built the workspace -echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix rbs_simulation)/share/rbs_simulation/" >> ~/.bashrc -``` - -### Examples -Activate current ROS2 enviroment: -``` -. install/setup.bash -``` - -Launch MoveIt2, Gazebo, RViz: -```bash -ros2 launch rbs_bringup bringup.launch.py -``` - -Start BT node in another terminal -``` -ros2 launch rbs_bt_executor rbs_executor.launch.py -``` - -### Links -* [bt_v3_cpp](https://www.behaviortree.dev) -* [moveit2](https://moveit.picknik.ai/humble/index.html) +[Installation instructon EN](./docs/en/installation.md) diff --git a/doc/Doxyfile b/docs/Doxyfile similarity index 93% rename from doc/Doxyfile rename to docs/Doxyfile index a1bb85f..4b2cdca 100644 --- a/doc/Doxyfile +++ b/docs/Doxyfile @@ -1,4 +1,4 @@ -# Doxyfile 1.9.1 +# Doxyfile 1.8.17 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project. @@ -32,7 +32,7 @@ DOXYFILE_ENCODING = UTF-8 # title of most generated pages and in a few other places. # The default value is: My Project. -PROJECT_NAME = "Robossembler Framework ROS2" +PROJECT_NAME = "Robossembler ROS2" # The PROJECT_NUMBER tag can be used to enter a project or revision number. This # could be handy for archiving the generated documentation or if some version @@ -58,7 +58,7 @@ PROJECT_LOGO = # entered, it will be relative to the location where doxygen was started. If # left blank the current directory will be used. -OUTPUT_DIRECTORY = doc/_build/ +OUTPUT_DIRECTORY = docs/_build/ # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- # directories (in 2 levels) under the output directory of each output format and @@ -195,7 +195,7 @@ SHORT_NAMES = NO # description.) # The default value is: NO. -JAVADOC_AUTOBRIEF = NO +JAVADOC_AUTOBRIEF = YES # If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line # such as @@ -227,14 +227,6 @@ QT_AUTOBRIEF = NO MULTILINE_CPP_IS_BRIEF = NO -# By default Python docstrings are displayed as preformatted text and doxygen's -# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the -# doxygen's special commands can be used and the contents of the docstring -# documentation blocks is shown as doxygen documentation. -# The default value is: YES. - -PYTHON_DOCSTRING = YES - # If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the # documentation from any documented member that it re-implements. # The default value is: YES. @@ -271,6 +263,12 @@ TAB_SIZE = 4 ALIASES = +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources # only. Doxygen will then generate output that is more tailored for C. For # instance, some of the names that are used will be different. The list of all @@ -285,7 +283,7 @@ OPTIMIZE_OUTPUT_FOR_C = NO # qualified scopes will look different, etc. # The default value is: NO. -OPTIMIZE_OUTPUT_JAVA = NO +OPTIMIZE_OUTPUT_JAVA = YES # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran # sources. Doxygen will then generate output that is tailored for Fortran. @@ -312,21 +310,18 @@ OPTIMIZE_OUTPUT_SLICE = NO # extension. Doxygen has a built-in mapping, but you can override or extend it # using this tag. The format is ext=language, where ext is a file extension, and # language is one of the parsers supported by doxygen: IDL, Java, JavaScript, -# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, # Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: # FortranFree, unknown formatted Fortran: Fortran. In the later case the parser # tries to guess whether the code is fixed or free formatted code, this is the -# default for Fortran type files). For instance to make doxygen treat .inc files -# as Fortran files (default is PHP), and .f files as C (default is Fortran), -# use: inc=Fortran f=C. +# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat +# .inc files as Fortran files (default is PHP), and .f files as C (default is +# Fortran), use: inc=Fortran f=C. # # Note: For files without extension you can use no_extension as a placeholder. # # Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. When specifying no_extension you should add -# * to the FILE_PATTERNS. -# -# Note see also the list of default file extension mappings. +# the files are not read by doxygen. EXTENSION_MAPPING = @@ -460,19 +455,6 @@ TYPEDEF_HIDES_STRUCT = NO LOOKUP_CACHE_SIZE = 0 -# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use -# during processing. When set to 0 doxygen will based this on the number of -# cores available in the system. You can set it explicitly to a value larger -# than 0 to get more control over the balance between CPU load and processing -# speed. At this moment only the input processing can be done using multiple -# threads. Since this is still an experimental feature the default is set to 1, -# which efficively disables parallel processing. Please report any issues you -# encounter. Generating dot graphs in parallel is controlled by the -# DOT_NUM_THREADS setting. -# Minimum value: 0, maximum value: 32, default value: 1. - -NUM_PROC_THREADS = 1 - #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- @@ -485,7 +467,7 @@ NUM_PROC_THREADS = 1 # normally produced when WARNINGS is set to YES. # The default value is: NO. -EXTRACT_ALL = NO +EXTRACT_ALL = YES # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will # be included in the documentation. @@ -536,13 +518,6 @@ EXTRACT_LOCAL_METHODS = NO EXTRACT_ANON_NSPACES = NO -# If this flag is set to YES, the name of an unnamed parameter in a declaration -# will be determined by the corresponding definition. By default unnamed -# parameters remain unnamed in the output. -# The default value is: YES. - -RESOLVE_UNNAMED_PARAMS = YES - # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all # undocumented members inside documented classes or files. If set to NO these # members will be included in the various overviews, but no documentation @@ -580,18 +555,11 @@ HIDE_IN_BODY_DOCS = NO INTERNAL_DOCS = NO -# With the correct setting of option CASE_SENSE_NAMES doxygen will better be -# able to match the capabilities of the underlying filesystem. In case the -# filesystem is case sensitive (i.e. it supports files in the same directory -# whose names only differ in casing), the option must be set to YES to properly -# deal with such files in case they appear in the input. For filesystems that -# are not case sensitive the option should be be set to NO to properly deal with -# output files written for symbols that only differ in casing, such as for two -# classes, one named CLASS and the other named Class, and to also support -# references to files without having to specify the exact matching casing. On -# Windows (including Cygwin) and MacOS, users should typically set this option -# to NO, whereas on Linux or other Unix flavors it should typically be set to -# YES. +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# (including Cygwin) ands Mac users are advised to set this option to NO. # The default value is: system dependent. CASE_SENSE_NAMES = YES @@ -601,7 +569,7 @@ CASE_SENSE_NAMES = YES # scope will be hidden. # The default value is: NO. -HIDE_SCOPE_NAMES = NO +HIDE_SCOPE_NAMES = YES # If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will # append additional text to a page's title, such as Class Reference. If set to @@ -648,7 +616,7 @@ SORT_MEMBER_DOCS = YES # this will also influence the order of the classes in the class list. # The default value is: NO. -SORT_BRIEF_DOCS = NO +SORT_BRIEF_DOCS = YES # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the # (brief and detailed) documentation of class members so that constructors and @@ -830,10 +798,7 @@ WARN_IF_DOC_ERROR = YES WARN_NO_PARAMDOC = NO # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS -# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but -# at the end of the doxygen process doxygen will return with a non-zero status. -# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# a warning is encountered. # The default value is: NO. WARN_AS_ERROR = NO @@ -864,14 +829,13 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = README.md \ - . +INPUT = README.md . # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses # libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: -# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# documentation (see: https://www.gnu.org/software/libiconv/) for the list of +# possible encodings. # The default value is: UTF-8. INPUT_ENCODING = UTF-8 @@ -884,15 +848,13 @@ INPUT_ENCODING = UTF-8 # need to set EXTENSION_MAPPING for the extension otherwise the files are not # read by doxygen. # -# Note the list of default checked file patterns might differ from the list of -# default file extension mappings. -# # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, # *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, # *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), -# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl, -# *.ucf, *.qsf and *.ice. +# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen +# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. FILE_PATTERNS = *.c \ *.cc \ @@ -1153,22 +1115,16 @@ USE_HTAGS = NO VERBATIM_HEADERS = YES # If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: -# http://clang.llvm.org/) for more accurate parsing at the cost of reduced -# performance. This can be particularly helpful with template rich C++ code for -# which doxygen's built-in parser lacks the necessary type information. +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. # Note: The availability of this option depends on whether or not doxygen was # generated with the -Duse_libclang=ON option for CMake. # The default value is: NO. CLANG_ASSISTED_PARSING = NO -# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to -# YES then doxygen will add the directory of each input to the include path. -# The default value is: YES. - -CLANG_ADD_INC_PATHS = YES - # If clang assisted parsing is enabled you can provide the compiler with command # line options that you would normally use when invoking the compiler. Note that # the include paths will already be set by doxygen for the files and directories @@ -1178,13 +1134,10 @@ CLANG_ADD_INC_PATHS = YES CLANG_OPTIONS = # If clang assisted parsing is enabled you can provide the clang parser with the -# path to the directory containing a file called compile_commands.json. This -# file is the compilation database (see: -# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the -# options used when the source files were built. This is equivalent to -# specifying the -p option to a clang tool, such as clang-check. These options -# will then be passed to the parser. Any options specified with CLANG_OPTIONS -# will be added as well. +# path to the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files +# were built. This is equivalent to specifying the "-p" option to a clang tool, +# such as clang-check. These options will then be passed to the parser. # Note: The availability of this option depends on whether or not doxygen was # generated with the -Duse_libclang=ON option for CMake. @@ -1201,6 +1154,13 @@ CLANG_DATABASE_PATH = ALPHABETICAL_INDEX = YES +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + # In case all classes in a project start with a common prefix, all classes will # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag # can be used to specify a prefix (or a list of prefixes) that should be ignored @@ -1371,11 +1331,10 @@ HTML_INDEX_NUM_ENTRIES = 100 # If the GENERATE_DOCSET tag is set to YES, additional index files will be # generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: -# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To -# create a documentation set, doxygen will generate a Makefile in the HTML -# output directory. Running make will produce the docset in that directory and -# running make install will install the docset in +# environment (see: https://developer.apple.com/xcode/), introduced with OSX +# 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at # startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy # genXcode/_index.html for more information. @@ -1417,8 +1376,8 @@ DOCSET_PUBLISHER_NAME = Publisher # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three # additional HTML index files: index.hhp, index.hhc, and index.hhk. The # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: -# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows. +# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. # # The HTML Help Workshop contains a compiler that can convert all HTML output # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML @@ -1448,7 +1407,7 @@ CHM_FILE = HHC_LOCATION = # The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the main .chm file (NO). +# (YES) or that it should be included in the master .chm file (NO). # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. @@ -1493,8 +1452,7 @@ QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help # Project output. For more information please see Qt Help Project / Namespace -# (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1502,8 +1460,8 @@ QHP_NAMESPACE = org.doxygen.Project # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt # Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual- +# folders). # The default value is: doc. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1511,16 +1469,16 @@ QHP_VIRTUAL_FOLDER = doc # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom # filter to add. For more information please see Qt Help Project / Custom -# Filters (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_NAME = # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the # custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom- +# filters). # This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_ATTRS = @@ -1532,9 +1490,9 @@ QHP_CUST_FILTER_ATTRS = QHP_SECT_FILTER_ATTRS = -# The QHG_LOCATION tag can be used to specify the location (absolute path -# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to -# run qhelpgenerator on the generated .qhp file. +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. # This tag requires that the tag GENERATE_QHP is set to YES. QHG_LOCATION = @@ -1611,17 +1569,6 @@ TREEVIEW_WIDTH = 250 EXT_LINKS_IN_WINDOW = NO -# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg -# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see -# https://inkscape.org) to generate formulas as SVG images instead of PNGs for -# the HTML output. These images will generally look nicer at scaled resolutions. -# Possible values are: png (the default) and svg (looks nicer but requires the -# pdf2svg or inkscape tool). -# The default value is: png. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FORMULA_FORMAT = png - # Use this tag to change the font size of LaTeX formulas included as images in # the HTML documentation. When you change the font size after a successful # doxygen run you need to manually remove any form_*.png images from the HTML @@ -1661,7 +1608,7 @@ USE_MATHJAX = NO # When MathJax is enabled you can set the default output format to be used for # the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. +# http://docs.mathjax.org/en/latest/output.html) for more details. # Possible values are: HTML-CSS (which is slower, but has the best # compatibility), NativeMML (i.e. MathML) and SVG. # The default value is: HTML-CSS. @@ -1677,7 +1624,7 @@ MATHJAX_FORMAT = HTML-CSS # Content Delivery Network so you can quickly see the result without installing # MathJax. However, it is strongly recommended to install a local copy of # MathJax from https://www.mathjax.org before deployment. -# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2. +# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/. # This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ @@ -1691,8 +1638,7 @@ MATHJAX_EXTENSIONS = # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces # of code that will be used on startup of the MathJax code. See the MathJax site -# (see: -# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an # example see the documentation. # This tag requires that the tag USE_MATHJAX is set to YES. @@ -1739,8 +1685,7 @@ SERVER_BASED_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: -# https://xapian.org/). +# Xapian (see: https://xapian.org/). # # See the section "External Indexing and Searching" for details. # The default value is: NO. @@ -1753,9 +1698,8 @@ EXTERNAL_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: -# https://xapian.org/). See the section "External Indexing and Searching" for -# details. +# Xapian (see: https://xapian.org/). See the section "External Indexing and +# Searching" for details. # This tag requires that the tag SEARCHENGINE is set to YES. SEARCHENGINE_URL = @@ -1919,11 +1863,9 @@ LATEX_EXTRA_FILES = PDF_HYPERLINKS = YES -# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as -# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX -# files. Set this option to YES, to get a higher quality PDF documentation. -# -# See also section LATEX_CMD_NAME for selecting the engine. +# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate +# the PDF file directly from the LaTeX files. Set this option to YES, to get a +# higher quality PDF documentation. # The default value is: YES. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -2434,31 +2376,9 @@ UML_LOOK = NO # but if the number exceeds 15, the total amount of fields shown is limited to # 10. # Minimum value: 0, maximum value: 100, default value: 10. -# This tag requires that the tag UML_LOOK is set to YES. - -UML_LIMIT_NUM_FIELDS = 10 - -# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and -# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS -# tag is set to YES, doxygen will add type and arguments for attributes and -# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen -# will not generate fields with class member information in the UML graphs. The -# class diagrams will look similar to the default class diagrams but using UML -# notation for the relationships. -# Possible values are: NO, YES and NONE. -# The default value is: NO. -# This tag requires that the tag UML_LOOK is set to YES. - -DOT_UML_DETAILS = NO - -# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters -# to display on a single line. If the actual line length exceeds this threshold -# significantly it will wrapped across multiple lines. Some heuristics are apply -# to avoid ugly line breaks. -# Minimum value: 0, maximum value: 1000, default value: 17. # This tag requires that the tag HAVE_DOT is set to YES. -DOT_WRAP_THRESHOLD = 17 +UML_LIMIT_NUM_FIELDS = 10 # If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and # collaboration graphs will show the relations between templates and their @@ -2651,11 +2571,9 @@ DOT_MULTI_TARGETS = NO GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot # files that are used to generate the various graphs. -# -# Note: This setting is not only used for dot files but also for msc and -# plantuml temporary files. # The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. DOT_CLEANUP = YES diff --git a/doc/en/add_new_robot.md b/docs/en/add_new_robot.md similarity index 100% rename from doc/en/add_new_robot.md rename to docs/en/add_new_robot.md diff --git a/doc/en/index.md b/docs/en/index.md similarity index 100% rename from doc/en/index.md rename to docs/en/index.md diff --git a/docs/en/installation.md b/docs/en/installation.md new file mode 100644 index 0000000..544cce4 --- /dev/null +++ b/docs/en/installation.md @@ -0,0 +1,35 @@ +# Framework Installation Guide + +First, you need to install [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html). A minimal installation is recommended. + +As the second step, you need to build [`ros2_control`](https://github.com/ros-controls/ros2_control) from source using this [fork](https://github.com/solid-sinusoid/ros2_control/tree/gz-ros2-cartesian-controllers). Alternatively, you can use the [`vcstool`](https://github.com/dirk-thomas/vcstool) method, which is included with the basic ROS2 packages. + +If using `vcstool`, the required packages will be cloned into the same workspace as the framework. The command would look like this: +```sh +vcs import . < robossembler-ros2/repos/all-deps.repos +``` + +Additionally, you can run the following command to install all required Python libraries: +```shell +pip install -r robossembler-ros2/repos/requirements.txt +``` + +> [!IMPORTANT] +> Note that to run the above command, you need to install `git lfs` since the `requirements.txt` file includes the `rbs_assets_library` module, which contains large files but is installed as a Python module. + +Make sure to execute this command in the `{robossembler_ws}/src/` directory. + +For those who prefer a concise sequence of commands, here it is: +```sh +cd +mkdir -p robossembler-ros2/src && cd robossembler-ros2 +git clone https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2 +# Or if you prefer Radicle: +rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip +cd src +vcs import . < robossembler-ros2/repos/all-deps.repos +pip install -r robossembler-ros2/repos/requirements.txt +cd .. +rosdep install --from-paths src -y --ignore-src +colcon build --symlink-install +``` diff --git a/doc/ru/add_new_robot.md b/docs/ru/add_new_robot.md similarity index 100% rename from doc/ru/add_new_robot.md rename to docs/ru/add_new_robot.md diff --git a/doc/ru/index.md b/docs/ru/index.md similarity index 100% rename from doc/ru/index.md rename to docs/ru/index.md diff --git a/doc/ru/installation.md b/docs/ru/installation.md similarity index 100% rename from doc/ru/installation.md rename to docs/ru/installation.md