Fix auto deploy and docker compose

.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

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:

docs/Dockerfile

@@ -0,0 +1,2 @@
+FROM squidfunk/mkdocs-material
+RUN pip install mkdocs-same-dir

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

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
 | <div style="width:220px">Parameter</div>  | 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.
@@ -33,15 +33,15 @@ 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
 | <div style="width:220px">Topic</div>   | Type              | Description                                                                                                                             |
 | ----------------------------------| ------------------| ---------------------------------------------------------------------------------------------------------------------------|
 | `~/odometry`                      | [nav_msgs/Odometry](https://docs.ros.org/en/rolling/p/nav_msgs/interfaces/msg/Odometry.html) | Odometry of the robot.
 | `~/trajectory_segment_to_add`     | [airstack_msgs/TrajectoryXYZVYaw](/common/ros_packages/airstack_msgs/srv/TrajectoryMode.srv) | For **ADD_SEGMENT** mode, this is the trajectory segment to add to the current trajectory.
 | `~/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
 | <div style="width:260px">Topic</div> | Type              | Description                                                                                                                             |
 | -------------------------------------| ------------------| ---------------------------------------------------------------------------------------------------------------------------|
 | `~/tracking_point`                   | TODO              | TODO