Updated documentation (#228)

* Update sphinx theme
* Update welcome page with a one-liner
* Update installation / build instructions
* Update ScriptSender documentation with example
* Update rtde client documentation
* Add ci job for building the docs
* Update dashboard client documentation
* Add script command interface documentation
* Add reverse_interface documentation
* Add trajectory_point_interface documentation
* Move UrDriver component description to own file
* Update architecture overview graph
* Add notes about PolyScope X compatibility

.github/workflows/ci.yml

@@ -107,11 +107,5 @@ jobs:
         run: |
           .github/helpers/check_urls.sh \
             -d ".git build CMakeModules debian" \
-            -f "package.xml architecture_coarse.svg dataflow.graphml start_ursim.sh" \
+            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh" \
             -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"
-
-  rosdoc_lite_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/actions/rosdoc_lite_action

.github/workflows/sphinx_build.yml

@@ -0,0 +1,30 @@
+---
+name: "Build documentation"
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '38 2 * * *'
+
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          cache: 'pip'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r doc_requirements.txt
+      - name: Build documentation
+        run: |
+          sphinx-build -W -b html doc _doc_build