New format of documentation

.pre-commit-config.yaml

@@ -51,7 +51,7 @@ repos:
             "--ignore-words-list",
             "ned" # north, east, down (NED)
           ]
-        exclude_types: [rst]
+        exclude_types: [rst, svg]
         language: python
         types: [text]
 

README.md

@@ -4,6 +4,11 @@ ROS 2 packages for Panther autonomous mobile robot
 
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
+<picture>
+  <source media="(prefers-color-scheme: dark)" srcset="https://github-readme-figures.s3.eu-central-1.amazonaws.com/panther/panther_ros/day_with_lights.png">
+  <img alt="Panther preview" src="https://github-readme-figures.s3.eu-central-1.amazonaws.com/panther/panther_ros/day_no_lights.png">
+</picture>
+
 ## Quick start
 
 ### Create workspace
@@ -66,6 +71,54 @@ Simulation:
 ros2 launch panther_gazebo simulation.launch.py
 ```
 
+### Launch Arguments
+
+Launch arguments are largely common to both simulation and physical robot. However, there is a group of arguments that apply only to hardware or only to the simulator. Below is a legend to the tables with all launch arguments.
+
+| Symbol | Meaning                      |
+| ------ | ---------------------------- |
+| 🤖      | Available for physical robot |
+| 🖥️      | Available in simulation      |
+
+|     | Argument                     | Description <br/> ***Type:*** `Default`                                                                                                                                                                                                                                                                                                                        |
+| --- | ---------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 🖥️   | `add_wheel_joints`           | Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information. <br/> ***bool:*** `False`                                                                                                                                              |
+| 🖥️   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                                                                              |
+| 🖥️   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                                                           |
+| 🤖🖥️  | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in Panther's urdf. Panther options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./panther_description/config/components.yaml)                                          |
+| 🤖🖥️  | `controller_config_path`     | Path to controller configuration file. A path to custom configuration can be specified here. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./panther_controller/config/)                                                                                                                                                                              |
+| 🤖   | `disable_manager`            | Enable or disable manager_bt_node. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                      |
+| 🤖🖥️  | `fuse_gps`                   | Include GPS for data fusion. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                            |
+| 🖥️   | `gz_bridge_config_path`      | Path to the parameter_bridge configuration file. <br/> ***string:*** [`gz_bridge.yaml`](./panther_gazebo/config/gz_bridge.yaml)                                                                                                                                                                                                                                 |
+| 🖥️   | `gz_gui`                     | Run simulation with specific GUI layout. <br/> ***string:*** [`teleop.config`](https://github.com/husarion/husarion_gz_worlds/blob/main/config/teleop.config)                                                                                                                                                                                                                |
+| 🖥️   | `gz_headless_mode`           | Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations. <br/> ***bool:*** `False`                                                                                                                                                                                             |
+| 🖥️   | `gz_log_level`               | Adjust the level of console output. <br/> ***int:*** `1` (choices: `0`, `1`, `2`, `3`, `4`)                                                                                                                                                                                                                                                                               |
+| 🖥️   | `gz_world`                   | Absolute path to SDF world file. <br/> ***string:*** [`husarion_world.sdf`](https://github.com/husarion/husarion_gz_worlds/blob/main/worlds/husarion_world.sdf)                                                                                                                                                                                                 |
+| 🤖🖥️  | `led_config_file`            | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`led_config.yaml`](./panther_lights/config/led_config.yaml)                                                                                                                        |
+| 🤖🖥️  | `lights_bt_project_path`     | Path to BehaviorTree project file, responsible for lights management. <br/> ***string:*** [`PantherLightsBT.btproj`](./panther_manager/behavior_trees/PantherLightsBT.btproj)                                                                                                                                                                                |
+| 🤖🖥️  | `localization_config_path`   | Specify the path to the localization configuration file. <br/> ***string:*** [`relative_localization.yaml`](./panther_localization/config/relative_localization.yaml)                                                                                                                                                                                          |
+| 🤖🖥️  | `localization_mode`          | Specifies the localization mode:  <br/>- 'relative' `odometry/filtered` data is relative to the initial position and orientation. <br/>- 'enu' `odometry/filtered` data is relative to initial position and ENU (East North Up) orientation. <br/> ***string:*** `relative` (choices: `relative`, `enu`)                                                    |
+| 🤖🖥️  | `namespace`                  | Add namespace to all launched nodes. <br/> ***string:*** `env(ROBOT_NAMESPACE)`                                                                                                                                                                                                                                                                               |
+| 🤖🖥️  | `publish_robot_state`        | Whether to publish the default Panther robot description. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                |
+| 🖥️   | `robots`                     | The list of the robots spawned in the simulation e.g. `robots:='robot1={x: 1.0, y: -2.0}; robot2={x: 1.0, y: -4.0}'` <br/> ***string:*** `''`                                                                                                                                                                                                                  |
+| 🤖🖥️  | `safety_bt_project_path`     | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`PantherSafetyBT.btproj`](./panther_manager/behavior_trees/PantherSafetyBT.btproj)                                                                                                                                                                   |
+| 🤖🖥️  | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts.yaml`](./panther_manager/config/shutdown_hosts.yaml)                                                                                                                                                                                                               |
+| 🤖🖥️  | `use_ekf`                    | Enable or disable EKF. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
+| 🤖🖥️  | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                             |
+| 🤖🖥️  | `user_led_animations_file`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                                                             |
+| 🤖🖥️  | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                                                                   |
+| 🤖🖥️  | `wheel_type`                 | Type of wheel. If you choose a value from the preset options ('WH01', 'WH02', 'WH04'), you can ignore the 'wheel_config_path' and 'controller_config_path' parameters. For custom wheels, please define these parameters to point to files that accurately describe the custom wheels. <br/> ***string:*** `WH01` (choices: `WH01`, `WH02`, `WH04`, `custom`) |
+| 🖥️   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                          |
+| 🖥️   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                                                                         |
+| 🖥️   | `z`                          | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.2`                                                                                                                                                                                                                                                                                          |
+| 🖥️   | `roll`                       | Initial robot 'roll' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                                       |
+| 🖥️   | `pitch`                      | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                                      |
+| 🖥️   | `yaw`                        | Initial robot 'yaw' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                                        |
+
+> [!TIP]
+>
+> To read the arguments for individual packages, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch panther_bringup bringup.launch.py ​​-s`)
+
 ## Developer Info
 
 ### Setup pre-commit