diff --git a/.github/workflows/deploy_docs.yaml b/.github/workflows/deploy_docs.yaml index b105ac99f..0e3c216ab 100644 --- a/.github/workflows/deploy_docs.yaml +++ b/.github/workflows/deploy_docs.yaml @@ -28,5 +28,5 @@ jobs: path: .cache restore-keys: | mkdocs-material- - - run: pip install mkdocs-material + - run: pip install mkdocs-material mkdocs-same-dir - run: mkdocs gh-deploy --force diff --git a/docker-compose.yaml b/docker-compose.yaml index 6638e7db4..7e624344c 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -6,13 +6,15 @@ include: services: docs: # live mkdocs container. open localhost:8000 in browser to see the docs - image: squidfunk/mkdocs-material + image: mkdocs_with_plugins + build: + dockerfile: docs/Dockerfile + tags: + - mkdocs_with_plugins container_name: docs - # network_mode: host ports: - "8000:8000" volumes: - # autonomy stack stuff - ./:/docs:rw networks: diff --git a/docs/Dockerfile b/docs/Dockerfile new file mode 100644 index 000000000..61436779a --- /dev/null +++ b/docs/Dockerfile @@ -0,0 +1,2 @@ +FROM squidfunk/mkdocs-material +RUN pip install mkdocs-same-dir \ No newline at end of file diff --git a/mkdocs.yml b/mkdocs.yml index 98986a38e..3d1b1db29 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -77,7 +77,6 @@ nav: - docs/robot/autonomy/4_global/index.md - World Model: - docs/robot/autonomy/4_global/world_model/index.md - - robot/ros_ws/src/autonomy/global/a_world_models/vdb_mapping_ros2/README.md - Planning: - docs/robot/autonomy/4_global/planning/index.md - robot/ros_ws/src/autonomy/4_global/b_planners/random_walk/README.md diff --git a/robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md b/robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md index 844909fc3..4f689ef29 100644 --- a/robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md +++ b/robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md @@ -8,7 +8,7 @@ The trajectory controller tries to keep the tracking point ahead of the robot in ![Trajectory Controller](trajectory_controller.png) -# Parameters +## Parameters |
Parameter
| Description |----------------------------|--------------------------------------------------------------- | `tf_prefix` | The tf names published are prefixed with the string in this parameter. Tfs are published at the tracking point and lookahead point. There are stabilized versions, the same but with zero pitch and roll, of these two tfs that are also published. | @@ -18,9 +18,9 @@ The trajectory controller tries to keep the tracking point ahead of the robot in | `sphere_radius` | This is the radius of the sphere used to determine the position of the tracking point. Making it larger pushes the tracking point farther ahead. | | `search_ahead_factor` | To search for the point on the trajectory that intersects with the sphere, the algorithm checks a certain distance ahead along the trajectory. This distance is given by `sphere_radius * search_ahead_factor`. If the trajectory zigzags a lot relative to the size of the sphere, it's possible that the algorithm wouldn't iterate far enough along the trajectory to find the point where it intersects with the sphere. If a large value for this parameter is used and the trajectory loops back on itself, it is possible that this would cause the tracking point to jump ahead and skip a portion of the trajectory. In almost all cases, this parameter shouldn't need to be changed. | | `traj_vis_thickness` | The thickness of the trajectory visualization markers. | -# Services +## Services -## Trajectory Modes +### Trajectory Modes There are several modes that the trajectory controller can be placed in with a service call to the `set_trajectory_mode` service: See TrajectoryMode.srv. @@ -33,7 +33,7 @@ See TrajectoryMode.srv. | **REWIND** | This makes the tracking point go backwards along the trajectory. This mode is usually used to make the drone blindly backtrack along its trajectory to get it out of a situation it is stuck in. | **ROBOT_POSE** | This makes the tracking point and lookahead point always be at the same position as the drone's odometry. This is useful for before takeoff, when the robot may be carried around so that the location where the takeoff starts is at the drone's position. -# Subscriptions +## Subscriptions |
Topic
| Type | Description | | ----------------------------------| ------------------| ---------------------------------------------------------------------------------------------------------------------------| | `~/odometry` | [nav_msgs/Odometry](https://docs.ros.org/en/rolling/p/nav_msgs/interfaces/msg/Odometry.html) | Odometry of the robot. @@ -41,7 +41,7 @@ See TrajectoryMode.srv. | `~/trajectory_override` | [airstack_msgs/TrajectoryXYZVYaw](/common/ros_packages/airstack_msgs/srv/TrajectoryMode.srv) | For **TRACK** mode, this overrides the current trajectory and makes the robot follow this directly. -# Publications +## Publications |
Topic
| Type | Description | | -------------------------------------| ------------------| ---------------------------------------------------------------------------------------------------------------------------| | `~/tracking_point` | TODO | TODO