diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 00000000..972b702f --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,8 @@ +{ + "recommendations": [ + "streetsidesoftware.code-spell-checker", + "eamodio.gitlens", + "unifiedjs.vscode-mdx", + "esbenp.prettier-vscode" + ] +} diff --git a/README.md b/README.md index 07b1b672..a3a91e6b 100644 --- a/README.md +++ b/README.md @@ -1,41 +1,200 @@ -# Website +# Fictionlab documentation -This website is built using [Docusaurus 3](https://docusaurus.io/), a modern static website generator. +Welcome to the Fictionlab documentation repository. This documentation is built +using [Docusaurus 3](https://docusaurus.io/), a modern static website generator. -### Installation +## Links + +- [Production link](http://docs.fictionlab.pl) +- [development (local) link](http://localhost:3000) + +## Getting Started + +### Prerequisites + +Ensure the following tools are installed on your local machine: + +- Code editor ([Visual Studio Code](https://code.visualstudio.com/) is + recommended) +- [Node.js](https://nodejs.org/en/) +- [Yarn 1.22.22 (Classic)](https://classic.yarnpkg.com/en/) +- [Git](https://git-scm.com/) +- A web browser + +#### Recommended VS Code extensions + + +> [!TIP] +> When opening this project in VS Code, you should be prompted to install the recommended extensions. If not, you can install them from the list below. + +- [Code Spell Checker](https://marketplace.visualstudio.com/items?itemName=streetsidesoftware.code-spell-checker) +- [GitLens](https://marketplace.visualstudio.com/items?itemName=eamodio.gitlens) +- [MDX](https://marketplace.visualstudio.com/items?itemName=unifiedjs.vscode-mdx) +- [Prettier](https://marketplace.visualstudio.com/items?itemName=esbenp.prettier-vscode) + +### Cloning repository + +To clone the repository, execute the following command in your terminal: + +```sh +git clone https://github.com/fictionlab/docs +``` + +Alternatively, use the VS Code command palette: ``` -$ yarn +> git clone ``` -### Local Development +and paste the repository URL. + +By default, `development` branch is selected. To create new branch see +[Updating the Documentation](#updating-the-documentation). + +### Launching development environment + +After cloning the repository, open the folder in VS Code and run: + +``` +yarn install +``` + +To start the development environment, use: + +``` +yarn start +``` + +A new browser tab will open at http://localhost:3000, reflecting any changes +made to the files. + +## Editing the documentation + +### Creating documents + +To create an entirely new page, create a new `.mdx` file in the desired folder +within the repository. Docusaurus maps the file structure relative to the +`/docs` folder into web URLs. + +For example: `/docs/leo-rover/specification.mdx` is translated to +`https://docs.fictionlab.pl/leo-rover/specification`. + + +> [!TIP] +> To avoid including the document name in the URL (e.g., creating a `leo-rover` page), name the document the same as the parent folder. +> Alternatively, you can name it `index.mdx`. For more information see: [Doc URLs - Docusaurus.io](https://docusaurus.io/docs/create-doc#doc-urls). + +### Editing documents + +To update the documentation, clone this repository and create a new branch from +`development` (or any other branch). For example, to create a branch named +`feature/new-button` from `development`: ``` -$ yarn start +git checkout -b feature/new-button development ``` -This command starts a local development server and opens up a browser window. Most changes are reflected live without having to restart the server. +Make necessary modifications and test everything using the development +environment. For guidelines on styling and formatting, refer to our +Documentation style guide - +[Documentation guidelines](https://docs.fictionlab.pl/guidelines). + + +> [!TIP] +> For more information on Docusaurus, visit [docusaurus.io](https://docusaurus.io/docs). + +### Testing implemented changes + +After making changes, test the compiled code in the browser. + + +> [!IMPORTANT] +> Always test your edits on both desktop and mobile browsers. +> +> Use developer tools to simulate mobile views (press F12 and select Toggle device emulation in Chrome-based browsers). + +Finally, check the spelling and formatting: + +``` +yarn formatcheck +``` -### Build +This will list files requiring formatting changes, which you can fix manually. +To fix formatting automatically, use: ``` -$ yarn build +yarn format ``` -This command generates static content into the `build` directory and can be served using any static contents hosting service. + +> [!CAUTION] +> Prettier has limited support for MDXv3. Automatic formatting can sometimes create unexpected results. +> +> For more details, see [docusaurus.io - usage with prettier](https://docusaurus.io/docs/markdown-features/admonitions#usage-with-prettier) -### Deployment +If using +[Prettier](https://marketplace.visualstudio.com/items?itemName=esbenp.prettier-vscode) +extension, you can also use Prettier to only format current document. To do +this, in VS Code use **Shift+Alt+F** shortcut or type `> Format document` into +search bar. -Using SSH: +To check spelling, run: ``` -$ USE_SSH=true yarn deploy +yarn spellcheck ``` -Not using SSH: +This will list unrecognized words in markdown files, which you must correct +manually. + + +> [!TIP] +> If you use the [Code Spell Checker](https://marketplace.visualstudio.com/items?itemName=streetsidesoftware.code-spell-checker) +> extension in VS Code, documents will be spell-checked in real-time. Any unrecognized words will be displayed in the PROBLEMS tab of VS Code. + +Sometimes, CSpell will mistakenly mark correct words as unknown, including +custom names like ROS topics and variables. To remove this error, add the word +to the CSpell configuration. Right-click the word and select **Spelling** > +**Add words to the CSpell configuration**. This can be done either in the editor +or in the **PROBLEMS** tab of VS Code. + +In the editor, you can use the VS Code shortcut **Ctrl+.** to bring up the +**Quick Fix** menu, which provides the same options as mentioned above. + +### Pushing Changes to the Remote Repository + +When ready, push your changes using: ``` -$ GIT_USER= yarn deploy +git push ``` -If you are using GitHub pages for hosting, this command is a convenient way to build the website and push to the `gh-pages` branch. + +> [!TIP] +> For more information on using Git, see [Atlassian Git Tutorial](https://www.atlassian.com/git). + +After pushing changes, create a Pull Request to merge them into the +`development` branch. Your code will be reviewed by the Fictionlab team. Default +reviewers are: + +- [@Krzemien97](https://github.com/Krzemien97) +- [@bjsowa](https://github.com/bjsowa) + + +> [!WARNING] +> Pull requests to the `production` branch from any branch other than `development` will not be merged. + +### Branch Naming Conventions + +Follow these naming conventions for branches: + +- `/feature/description` - for new features, components etc. +- `/content/description` - for markdown content updates +- `/fix/description` - for fixes +- `/chore/description` - for dependency updates + +## Reporting Issues + +To report documentation issues, create an +[issue](https://github.com/fictionlab/docs/issues) on this repository or email +us at contact@fictionlab.pl. diff --git a/cspell.json b/cspell.json index 08752534..30725e5a 100644 --- a/cspell.json +++ b/cspell.json @@ -4,6 +4,7 @@ "dictionaryDefinitions": [], "dictionaries": [], "words": [ + "Ackermann", "Aliexpress", "alvar", "amcl", @@ -38,6 +39,7 @@ "Fiberlogy", "Fictionlab", "Fixposition", + "formatcheck", "Freespace", "getent", "gmapping", @@ -48,6 +50,8 @@ "hostapd", "hqdefault", "Husarion", + "igus", + "imagezoom", "imbus", "inet", "inferencing", @@ -57,7 +61,10 @@ "kaggle", "Kalman", "kbps", + "kellideas", "Kinect", + "Krzemien", + "leds", "leocore", "leorover", "libcurl", @@ -101,12 +108,14 @@ "Powerbox", "preconfigured", "pretrained", + "productpreview", + "pushrod", "Rapha", "Raspicam", "realsense", "Remmina", - "RGBW", "rgba", + "RGBW", "Robocontroller", "Romi", "Rosbridge", @@ -114,10 +123,12 @@ "roscpp", "rosdep", "rosdistro", + "rosinstall", "roslaunch", "roslibjs", "rosmsg", "rosnode", + "rosout", "rospack", "rosparam", "rospy", @@ -141,6 +152,7 @@ "teleoperation", "Teltonika", "tflite", + "themedimagezoom", "torx", "Trossen", "trossenrobotics", @@ -155,9 +167,12 @@ "WEIPU", "widowx", "wlan", + "wstool", "Xorg", "XRCE", - "XRDP" + "XRDP", + "xseries", + "zoomable" ], "ignoreWords": [ "Arboti", @@ -190,7 +205,6 @@ "isie", "leox", "librealsense", - "localnet", "marsyard", "mmcblk", "mobot", diff --git a/docs/guidelines/components/_FlexTable.mdx b/docs/guidelines/components/_FlexTable.mdx new file mode 100644 index 00000000..ee1d6255 --- /dev/null +++ b/docs/guidelines/components/_FlexTable.mdx @@ -0,0 +1,108 @@ +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; + +## FlexTable + +`FlexTable` is simple component that renders flex container with designated +layout. It is not included by default and therefore requires importing. + +```jsx +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +``` + +By default `FlexTable` is styled to have 2 columns on the desktop and 1 column +on the mobile devices. + +Basic usage: + +```jsx + + Column 1 content + Column 2 content + +``` + +### FlexTable arguments + +`style={{ css }}` \ +This argument can override default CSS styles and for example allow different +alignment of the items. For CSS options and guidance, refer to the +[W3Schools CSS tutorial](https://www.w3schools.com/css). + +Example: + +```jsx +style={{ + alignContent: 'center', + justifyContent: 'space-evenly', + alignItems: 'center' +}} +``` + +### FlexTableItem arguments + +`style={{ css }}` \ +The `FlexTableItem` can also be styled using the `style` argument, allowing for +different styles for each item or adjusting item width to accommodate more +columns. + +`mobileColumns={1|2}` optional, default `1` \ +Used to specify how many columns will be displayed next to each other on mobile +devices. + +### FlexTable example + +```jsx + + + Column 1 content + + + Column 2 content + + + Column 3 content + + +``` + +Is rendered: + + + + Column 1 content + + + + Column 2 content + + + Column 3 content + + diff --git a/docs/guidelines/components/_FusionEmbed.mdx b/docs/guidelines/components/_FusionEmbed.mdx new file mode 100644 index 00000000..52d65072 --- /dev/null +++ b/docs/guidelines/components/_FusionEmbed.mdx @@ -0,0 +1,78 @@ +import FusionEmbed from '@site/src/components/FusionEmbed'; + +## FusionEmbed + +`FusionEmbed` is a component designed to embed Autodesk Fusion CAD models into +the page. It loads the CAD model only after the user requests it by clicking a +link, thereby improving page load speed. + +It is not loaded by default, therefore it requires importing: + +```jsx +import FusionEmbed from '@site/src/components/FusionEmbed'; +``` + +Basic usage: + +```jsx + +``` + +### FusionEmbed arguments + +`url="cad_model_url"` \ +Link to Fusion CAD model. It has to be in `kellideas.autodesk360.com` domain. + +`embedTitle="cad model description"` \ +Embedded CAD model description. Used mostly by browser bots (SEO). + +`loading="lazy" | "eager"` optional, default `lazy` \ +Define if overlay image should be lazy loaded or not. CAD model image should be +eager loaded if it is in the user's initial viewport (visible during page +loading). Otherwise it should be lazy loaded. + +`img="image_path"` optional, by default cube is displayed \ + +An image displayed as the background if the user has not clicked to load the 3D +model. It is hidden when the model is loaded. It is recommended to set this +image as a preview to indicate which model will be shown after loading. + +`alt="alternative text"` required if `img` is set \ +Alternative text shown if image cannot be displayed. + +`img_width={number}` required if `img` is set \ +`img_height={number}` required if `img` is set \ +Real dimensions of the image in pixels. + +:::note + +Right now it is not possible to style this component using CSS. + +::: + +### FusionEmbed example + +```jsx + +``` + +Is rendered: + + diff --git a/docs/guidelines/components/_ImageZoom.mdx b/docs/guidelines/components/_ImageZoom.mdx new file mode 100644 index 00000000..3b362d8c --- /dev/null +++ b/docs/guidelines/components/_ImageZoom.mdx @@ -0,0 +1,75 @@ +## ImageZoom + +Component for adding photos. `ImageZoom` is included by default and does not +require importing. + +Basic usage: + +```jsx + +``` + +### Optional arguments + +`loading="lazy|eager"` \ +By default, lazy loading is applied to all images. While beneficial for +non-visible images during page loading, it may not be suitable for visible ones. +To disable lazy loading for specific images, add the `loading="eager"` attribute +before the `src` attribute. + +`figStyle={{ css }}` \ +This attribute is utilized for custom styling of the figure that contains the +image. It enables adjustments such as resizing the rendered width of the image. +For CSS options and guidance, refer to the +[W3Schools CSS tutorial](https://www.w3schools.com/css). + +Example: + +```jsx + figStyle={{ + width: 400, // height is automatically adjusted + }} +``` + +`allowZoom={true|false}` \ +Determines whether the image is zoomable or not. Defaults to true. + +`caption="description of the image"` \ +Specifies the caption positioned below the image. + +### ImageZoom example + +```jsx + +``` + +Is rendered: + + diff --git a/docs/guidelines/components/_LinkButton.mdx b/docs/guidelines/components/_LinkButton.mdx new file mode 100644 index 00000000..a9f918d7 --- /dev/null +++ b/docs/guidelines/components/_LinkButton.mdx @@ -0,0 +1,88 @@ +## LinkButton + +The component facilitates the addition of buttons directing to internal or +external pages. The `LinkButton` is integrated by default and does not require +importing. + +The usage of this component varies based on whether the page is located within +current sidebar or not. + +### Automatic links + +For pages included in the current sidebar (regardless of their depth in the +structure), it is necessary to specify the `docId` of the selected page. To +understand how Docusaurus specifies ID of documents, see: +[Document ID - docusaurus.io](https://docusaurus.io/docs/create-doc#document-id). + +#### Example usage + +```jsx + +``` + +Is rendered: + + + +:::note + +Due to Docusaurus limitations, this method can only link to pages within the +currently selected sidebar (i.e., pages visible on the left). To link to pages +located beyond this sidebar, please refer to [Manual links](#manual-links). + +For instance, this page cannot link to pages in the Leo Rover category. + +::: + +### Manual links + +When employing `LinkButton` to link external pages or pages outside the current +sidebar, it is essential to provide additional arguments since Docusaurus itself +cannot retrieve them. + +Basic usage: + +```jsx + +``` + +#### Arguments + +`url="link_url"` \ +The link provided can be either relative (e.g., +`/leo-rover/documentation/docusaurus` ) or absolute ( e.g., +`https://leorover.tech` ). + +`title="link title"` \ +Title of the link. + +`description="description of the link"` \ +Description of the link, put below the title. + +`icon="🤖"` \ +An optional custom icon placed alongside the title. When used in manual mode, +`LinkButton` automatically detects the link type. By default, emojis are: + +- `📄` for pages +- `🗃️` for categories +- `🔗` for external links + +#### Example usage + +```jsx + +``` + +Is rendered: + + diff --git a/docs/guidelines/components/_ProductPreview.mdx b/docs/guidelines/components/_ProductPreview.mdx new file mode 100644 index 00000000..913fe2a2 --- /dev/null +++ b/docs/guidelines/components/_ProductPreview.mdx @@ -0,0 +1,92 @@ +import ProductPreview from '@site/src/components/ProductPreview'; + +## ProductPreview + +`ProductPreview` is a component designed to display visually appealing links to +https://shop.leorover.tech. It is useful for linking addons that assist in +integrating desired sensors, linking products on their specification pages, and +more. + +`ProductPreview` is not imported by default, thereby requires importing. + +```jsx +import ProductPreview from '@site/src/components/ProductPreview'; +``` + +Basic usage: + +```jsx + +``` + +### ProductPreview arguments + +`shopUrl="link_to_product_page"` required \ +Link to product page on [leorover.tech](https://leorover.tech) + +`loading="lazy" | "eager"` optional, default `lazy` \ +Define if product image should be lazy loaded or not. Image should be eager +loaded if it is in the user's initial viewport (visible during page loading). +Otherwise it should be lazy loaded. + +`imageSrc="image_path"` required \ +An image displayed as a preview of the product. It should be the same image used +as the main image on the product page. + +`alt="alternative text"` required \ +Alternative text shown if product image cannot be displayed. + +`width={number}` required \ +`height={number}` required \ +Real dimensions of the product image. + +`title="product title"` required \ +Title of the product. It should follow convention - "Product Name | Leo Rover +shop" + +`price={number}` optional \ +Product price in **EUR**. + +`description="product description"` optional \ +Description of the product. + +### ProductPreview example + +```jsx + +``` + +Is rendered: + + diff --git a/docs/guidelines/components/_ThemedImageZoom.mdx b/docs/guidelines/components/_ThemedImageZoom.mdx new file mode 100644 index 00000000..44ce2f09 --- /dev/null +++ b/docs/guidelines/components/_ThemedImageZoom.mdx @@ -0,0 +1,72 @@ +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; + +## ThemedImageZoom + +Modified `ImageZoom` component that provides the capability to alter images +based on the theme of the site. It is not included by default and therefore +requires importing. + +```jsx +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; +``` + +Basic usage: + +```jsx + +``` + +It accepts the same optional arguments as `ImageZoom`. Refer to +[ImageZoom optional arguments](#optional-arguments). These arguments apply to +both light and dark mode images. + +:::note + +Both images used in the `ThemedImageZoom` should have the same size and present +the same content, with appearance adjusted for the selected theme. + +::: + +### ThemedImageZoom example + +```jsx + +``` + +Is rendered (use mode switcher on the navbar): + + diff --git a/docs/guidelines/components/_category_.json b/docs/guidelines/components/_category_.json new file mode 100644 index 00000000..17747f6e --- /dev/null +++ b/docs/guidelines/components/_category_.json @@ -0,0 +1,7 @@ +{ + "label": "Components", + "position": 3, + "collapsible": true, + "collapsed": false, + "link": { "type": "doc", "id": "components" } +} diff --git a/docs/guidelines/components/components.mdx b/docs/guidelines/components/components.mdx new file mode 100644 index 00000000..d7f34429 --- /dev/null +++ b/docs/guidelines/components/components.mdx @@ -0,0 +1,37 @@ +--- +title: React components list +sidebar_label: React components +sidebar_position: 3 +unlisted: true +description: >- + Explore the custom components available for use in this documentation and + learn how to implement them. +--- + +import ImageZoomDef from './_ImageZoom.mdx'; +import LinkButtonDef from './_LinkButton.mdx'; +import ThemedImageZoomDef from './_ThemedImageZoom.mdx'; +import FlexTableDef from './_FlexTable.mdx'; +import FusionEmbedDef from './_FusionEmbed.mdx'; +import ProductPreviewDef from './_ProductPreview.mdx'; + +This page contains description of all custom created React components included +in Fictionlab documentation as well as links to useful +[Docusaurus](https://docusaurus.io) components. + +## Recommended Docusaurus components + +- [Tabs](https://docusaurus.io/docs/markdown-features/tabs) +- [SVGs](https://docusaurus.io/docs/markdown-features/assets#inline-svgs) + + + + + + + + + + + + diff --git a/docs/guidelines/formatting.mdx b/docs/guidelines/formatting.mdx new file mode 100644 index 00000000..aca85252 --- /dev/null +++ b/docs/guidelines/formatting.mdx @@ -0,0 +1,199 @@ +--- +title: Formatting +sidebar_label: Formatting +sidebar_position: 2 +unlisted: true +description: >- + This page outlines the defined styles to be used consistently across all + documentation pages. +--- + +Fictionlab documentation is written in `MDXv3` format. It is an markdown with +possibility to insert HTML and React components. + +To see whats possible with markdown, see this guide: + + + +## General rules + +When it comes to general documentation writing rules it is best to **look +around**. Match the style you see used in the rest of the project. If something +is inconsistent or you have doubts, feel free to report it via +[github issues](https://github.com/fictionlab/docs/issues), +[e-mail](mailto:contact@fictionlab.pl) or any other means. + +Here are some tips to help you write nice document: + +- When it comes to images, use only + [ImageZoom](/guidelines/components#imagezoom) or + [ThemedImageZoom](/guidelines/components#themedimagezoom) components. +- If you have trouble with style, spelling etc., **ChatGPT** can be great ally. + +
+ Example ChatGPT prompt + +> You are an experienced technical copywriter with extensive expertise in +> creating documentation for large robotics companies. Your goal is to ensure +> that your texts are clear, precise, specific, and written in professional +> technical language. Rewrite the text below to enhance clarity, specificity, +> and suitability for use in technical documentation. Ensure that all technical +> terms are used correctly, and that the text follows a logical structure +> suitable for engineers and technical professionals. +> +> Text: \ +> [text to rewrite] + +
+ +- For tutorials that have multiple possible paths, for example different + commands for Linux and Windows systems, use + [Tabs](https://docusaurus.io/docs/markdown-features/tabs). Different use case + is for different hardware versions of a rover. +- When it comes to file naming avoid using underscores (`_`), use dashes (`-`) + instead. +- Use only lowercase letters in file names. + +### Front matter + +> Front matter is used to add metadata to your Markdown file. All content +> plugins have their own front matter schema, and use the front matter to enrich +> the default metadata inferred from the content or other configuration. +> +> [docusaurus.io](https://docusaurus.io/docs/markdown-features#front-matter) + +All documents included in Fictionlab documentation are required to have +following Front matter fields: + +{/* prettier-ignore */} +```yml +--- +title: # title of the document +sidebar_label: # title of the document on the sidebar +keywords: # few keywords that describe the document, recommended 4-5 +description: >- # text description about document content, up to 160 characters, SEE warning below +image: # path to image that is shown when embedding link on social media, in Google etc. +--- +``` + +:::warning + +Prettier automatically wraps text with more than 80 characters in one line. \ +When using multiline strings in YAML, it is recommended to use `>-` scalars. +Otherwise it won't be possible to use special characters like colons `:`. If +description is shorter than 80 characters, it is safe to remove `>-` scalar. + +More information: [YAML multiline strings](https://yaml-multiline.info/) + +::: + +The following fields are associated with the document's Search Engine +Optimization (SEO) parameters. + +In addition it is possible to set additional fields: + +`id: document_ID` \ +Used to set custom ID of the document. By default it is taken from the file +name. + +:::warning + +This parameter defines only the final segment of the ID. The preceding segments +are derived from the file structure. + +::: + +`sidebar_position: number` \ +This parameter is used to set a custom order for the documents within +categories. By default, the documents are arranged alphabetically. + +:::note + +All documents within a particular category must have this parameter set to +ensure correct ordering. + +::: + +`slug: document_slug` \ +Used to set custom URL slug of the article. By default file name is used. + +:::note + +The slug can be set as either relative (`page-slug`) or absolute (`/page-slug`). +Relative slugs will have preceding segments derived from the file structure, +while absolute slugs will be served directly at the page root. + +::: + +--- + +There are additional possible fields, but the ones mentioned above are typically +sufficient for setting the document's metadata correctly. For a complete list of +possible fields, refer to the +[Markdown front matter documentation on docusaurus.io](https://docusaurus.io/docs/api/plugins/@docusaurus/plugin-content-docs#markdown-front-matte). + +### Images + +- When it comes to images, use only + [ImageZoom](/guidelines/components#imagezoom) or + [ThemedImageZoom](/guidelines/components#themedimagezoom) components. +- Do not use underscores `_` in names, use dashes instead `-`. +- Name images descriptively, avoid names like `323d2324.webp`. + - When there are multiple images in a document (such as a manual), you can + keep the same name and add numbering to them. For example: + `battery-10.webp`. +- All images should be stored in `/docs/static/img` directory. +- All images should be converted into `webp` format. It is more modern, thus + more space efficient. Default quality should be `80` with `lossy` setting. For + image conversion, you can use tools such as + [Paint.net](https://www.getpaint.net/) or + [ImageMagick](https://imagemagick.org/index.php). + +#### Themed images + +In addition, images with different versions for light and dark mode should +include the `-light` or `-dark` suffix in their filenames. For example, +`leo-rover-render-light.webp`. + +- The `-light` suffix indicates that the image is intended for use in light + mode. For example, such images should feature **black text**. +- The `-dark` suffix indicates that the image is intended for use in dark mode. + For example, such images should feature **white text**. + +Themed images should have the same dimensions and should represent the same +content. + +## Formatting styles + +| Type | Style | Example | +| ---------------------------: | :---: | :----------------------------------------------------------------------------------------- | +| click/press command (image) | bold | click **yes** to proceed | +| choose from options (image) | code | Choose `Xorg` session | +| type (image) | code | type `pi` for the username | +| mention of external software | link | The LeoOS uses [NetworkManager](https://en.wikipedia.org/wiki/NetworkManager) to manage... | +| tool name (ssh) | code | look up the message description using `rosmsg` tool: | +| directories | bold | files inside **/home/pi** directory | +| versions | code | We recommend the `full` version. | +| file names | code | Modify the `hostapd.conf` configuration | +| field names | code | Modify the `ssid` and `wpa_passphrase` fields. | +| shortcuts | bold | Type **Ctrl+O** and **Enter** to save | +| ROS topics | code | ... see the `/battery` topic. | +| service names | code | or by stopping the `leo` service: | +| variables | code | make sure the `START_ROSCORE` variable is set to `true` on the main rover | + +## Other + +### Empty sections + +If document is scheduled to be published before full completion. Do not leave +empty sections. It can be mistaken as an oversight. + +To mark unfinished section add `TODO` mdx comment and _Work in progress_ text +for the users. + +{/* prettier-ignore */} +```jsx +{ /* TODO */ } + +_Work in progress_ +``` diff --git a/docs/guidelines/guidelines.mdx b/docs/guidelines/guidelines.mdx new file mode 100644 index 00000000..5f42fcf5 --- /dev/null +++ b/docs/guidelines/guidelines.mdx @@ -0,0 +1,47 @@ +--- +title: Documentation guidelines +sidebar_label: Documentation guidelines +sidebar_position: 1 +unlisted: true +description: >- + This page provides an overview of how to write proper documentation pages for + Fictionlab documentation. +--- + +This section provides guidelines for writing additional content for Fictionlab +documentation. It includes a list of available React components and templates +for different page types, such as addons and integrations. + +### Formatting + +All pages within [Fictionlab documentation](/) should be consistently formatted +to ensure standardization and clarity for the reader. To consolidate all the +rules, a dedicated page has been created that contains all the styles currently +used in the documentation. + + + +### React components + +To ensure consistency across all pages, we created additional React components +that automatically apply the necessary styles and properties. To see a list of +all available components, visit: + + + +### Templates + +To see available page templates, visit: + + + +:::tip + +To directly copy templates, navigate to the **/docs/guidelines/templates** +directory in this repository. + +::: diff --git a/docs/guidelines/templates/_category_.json b/docs/guidelines/templates/_category_.json new file mode 100644 index 00000000..87c81cc1 --- /dev/null +++ b/docs/guidelines/templates/_category_.json @@ -0,0 +1,10 @@ +{ + "label": "Templates", + "position": 3, + "collapsible": true, + "collapsed": false, + "link": { + "type": "generated-index", + "description": "All .mdx templates files can be found in /docs/guidelines/templates directory." + } +} diff --git a/docs/guidelines/templates/addon-template.mdx b/docs/guidelines/templates/addon-template.mdx new file mode 100644 index 00000000..0f584df1 --- /dev/null +++ b/docs/guidelines/templates/addon-template.mdx @@ -0,0 +1,96 @@ +--- +title: Addon specification template +sidebar_label: Addon specification template +description: >- + Template of Addon specification, includes prerequisites, required imports, + structure and content to fill. +unlisted: true +--- + +{/* Don't copy this */} + +## Prerequisites and information + +1. Create folder with addon name in corresponding rover folder +2. Inside newly created folder + - Create new [ProductPreview](/guidelines/components#productpreview) partial + markdown file. Name should look like this `_addon-name-product.mdx` + - Create new `.mdx` file **named the same as folder** +3. When copying and filling this template, remove all comments + (`{/* comment example */}` ). +4. When copying directly from `.mdx` file, remove all code blocks (only fencing, + leave content). +5. Inline code indicates that this fragment needs to be replaced with other + content, such as a React component, description, etc. + +## Template + +{/* Copy below this */} + +```yml title="Required front matter" +--- +title: +sidebar_label: +sidebar_position: 1 # addon should have its own folder +keywords: # 4-5 + - +description: # max 160 characters +image: +--- +``` + +```jsx title="Required imports" +import Product from './_addon_name-product.mdx'; // use product file that you created as prerequisite +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; +import FusionEmbed from '@site/src/components/FusionEmbed'; +``` + +`Addon render, isometric view - ImageZoom` + +`Addon description - About 400 characters` + +## Referenced product + +`Product Preview - imported _addon_name-product.mdx` + +## Main parameters + +| Parameter | Value | +| :-------------------- | :---: | +| Dimensions ( LxWxH ) | | +| Weight | | +| Materials | | +| Protection index | | +| Operating temperature | | +| Operating voltage | | + +`Remove any non-applicable parameters and add any other parameters that are relevant.` + +## Dimensions + +`Technical drawing with main dimensions, without border - ThemedImageZoom` + +### CAD model + +`Fusion CAD model preview, with set image before loading - FusionEmbed` + +3D CAD model in neutral format is also available on our Google Drive: + +`Link to public Google Drive folder with STEP/STL files` + +```md title="Additional information - REMOVE THIS" +Any other information relevant to the particular addon should be included as +replacement of this codeblock. + +It includes sections for example: + +- safety procedures +- diagrams +- software information +- user interface +- charging procedures +- payload + +etc. +``` diff --git a/docs/guidelines/templates/integration-template.mdx b/docs/guidelines/templates/integration-template.mdx new file mode 100644 index 00000000..addc7ece --- /dev/null +++ b/docs/guidelines/templates/integration-template.mdx @@ -0,0 +1,77 @@ +--- +title: Integration template +sidebar_label: Integration template +description: >- + Template of Integration, includes prerequisites, required imports, structure + and content to fill. +unlisted: true +--- + +{/* Don't copy this */} + +## Prerequisites and information + +1. Create new `.mdx` integration file inside correct integrations category. +2. When copying and filling this template, remove all comments + (`{/* comment example */}` ). +3. When copying directly from `.mdx` file, remove all code blocks (only fencing, + leave content). +4. Inline code indicates that this fragment needs to be replaced with other + content, such as a React component, description, etc. + +## Template + +{/* Copy below this */} + +```yml title="Required front matter" +--- +title: # should be in the format [company name] [product model] +sidebar_label: +keywords: # 4-5 + - +description: # max 160 characters +image: +--- +``` + +`Render of leo with integration, isometric view - ImageZoom` + +`Integration description - About 400 characters` + +## What to expect? + +`Describe the knowledge and Rover capabilities the user will gain upon completing this integration.` + +## Prerequisites + +### Hardware + +`List of components required or recommended for this integration` + +### Software + +`Links to relevant tutorials that are necessary to know before doing this integration - LinkButton` + +## Mechanical integration + +`Step by step instruction how to mount desired integration on a rover` + +### Wiring + +`Step by step instruction how to connect desired integration to a rover` + +## Software integration + +`Step by step instruction how to add necessary software to control integration on a rover` + +## Examples + +`examples of running integration on a rover` + +## What's next? + +`Links to any integrations that can expand upon current one` + +`Contact information` + +`Info about examples (like leo-examples)` diff --git a/docs/leo-rover.mdx b/docs/leo-rover.mdx new file mode 100644 index 00000000..74fc4cea --- /dev/null +++ b/docs/leo-rover.mdx @@ -0,0 +1,53 @@ +--- +title: Leo Rover Docs +sidebar_label: Leo Rover +sidebar_position: 1 +keywords: + - leo + - rover + - robot + - docs + - documentation + - info +description: >- + Welcome to Leo Rover Docs. Here you'll find all the information needed to + assemble your Rover, modify its settings and kickstart your robot development. +image: /img/robots/leo/leo-on-box.webp +--- + +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; + +import DocCardList from '@theme/DocCardList'; + +# Welcome to Leo Rover Docs + +Here you'll find all the information needed to assemble your Rover, modify its +settings and kickstart your robot development. + + + + + + + + + + + + + diff --git a/docs/leo-rover/addons/_category_.json b/docs/leo-rover/addons/_category_.json index 2c22e69d..7590882c 100644 --- a/docs/leo-rover/addons/_category_.json +++ b/docs/leo-rover/addons/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { - "title": "Addon overview", - "type": "generated-index" + "type": "generated-index", + "title": "Leo Rover addons", + "slug": "leo-rover/addons" } } diff --git a/docs/leo-rover/addons/additional-meb-covers.mdx b/docs/leo-rover/addons/additional-meb-covers.mdx index 224a54d7..b1b52f65 100644 --- a/docs/leo-rover/addons/additional-meb-covers.mdx +++ b/docs/leo-rover/addons/additional-meb-covers.mdx @@ -8,7 +8,7 @@ keywords: - cable routing - mounting - addon -description: > +description: >- Learn how to 3D print your own dev-covers and mounting plates for the Leo Rover Main Electronics Box using the provided CAD files. image: '/img/robots/leo/addons/meb-covers/00188-meb-cover.webp' diff --git a/docs/leo-rover/addons/charging-station/charging-station-assembly.mdx b/docs/leo-rover/addons/charging-station/charging-station-assembly.mdx index bea6aef9..a3c076a9 100644 --- a/docs/leo-rover/addons/charging-station/charging-station-assembly.mdx +++ b/docs/leo-rover/addons/charging-station/charging-station-assembly.mdx @@ -11,7 +11,7 @@ keywords: - leo rover - robot - battery -description: > +description: >- Step-by-step manual for setting up your Leo Rover charging station and updating the MEB cover. image: '/img/robots/leo/documentation/charging-station/charging-station-1.webp' diff --git a/docs/leo-rover/addons/charging-station/charging-station-docking.mdx b/docs/leo-rover/addons/charging-station/charging-station-docking.mdx index 352fbfd1..b20e0722 100644 --- a/docs/leo-rover/addons/charging-station/charging-station-docking.mdx +++ b/docs/leo-rover/addons/charging-station/charging-station-docking.mdx @@ -11,7 +11,7 @@ keywords: - autonomous dock - autonomy - ARTag -description: > +description: >- Learn how to autonomously dock your Leo Rover to a charging station using ROS. Detailed tutorial with launch files and parameters. image: '/img/robots/leo/addons/charging-station/leo-on-charging-station.webp' diff --git a/docs/leo-rover/addons/charging-station/charging-station.mdx b/docs/leo-rover/addons/charging-station/charging-station.mdx index cacc50a3..d9e408d2 100644 --- a/docs/leo-rover/addons/charging-station/charging-station.mdx +++ b/docs/leo-rover/addons/charging-station/charging-station.mdx @@ -10,7 +10,7 @@ keywords: - parameters - dimensions - addon -description: > +description: >- Extend your Leo Rover's battery life - Charging Station Specification image: '/img/robots/leo/addons/charging-station/charging-station-render.webp' --- diff --git a/docs/leo-rover/addons/high-capacity-battery/high-capacity-battery.mdx b/docs/leo-rover/addons/high-capacity-battery/high-capacity-battery.mdx index 189e5784..27af455c 100644 --- a/docs/leo-rover/addons/high-capacity-battery/high-capacity-battery.mdx +++ b/docs/leo-rover/addons/high-capacity-battery/high-capacity-battery.mdx @@ -8,7 +8,7 @@ keywords: - extended range - battery - battery pack -description: > +description: >- Extend max run time of Leo Rover with high capacity battery. image: '/img/robots/leo/addons/high-capacity-battery/high-capacity-battery.webp' --- diff --git a/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels-integration.mdx b/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels-integration.mdx index bde53efc..9602af9b 100644 --- a/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels-integration.mdx +++ b/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels-integration.mdx @@ -11,7 +11,7 @@ keywords: - integration - mechanical - software -description: > +description: >- Learn how to convert your Leo Rover to holonomic motion mode using mecanum wheels for improved maneuverability and payload capacity. diff --git a/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels.mdx b/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels.mdx index 28120835..c34df29d 100644 --- a/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels.mdx +++ b/docs/leo-rover/addons/mecanum-wheels/mecanum-wheels.mdx @@ -10,7 +10,7 @@ keywords: - parameters - strafe - robot -description: > +description: >- Learn specification of Leo Rover's mecanum wheels addon. Get improved maneuverability and payload capacity. image: '/img/robots/leo/addons/mecanum-wheels/mecanum-wheels.webp' diff --git a/docs/leo-rover/addons/powerbox/powerbox.mdx b/docs/leo-rover/addons/powerbox/powerbox.mdx index 2f15b358..2060320c 100644 --- a/docs/leo-rover/addons/powerbox/powerbox.mdx +++ b/docs/leo-rover/addons/powerbox/powerbox.mdx @@ -9,7 +9,7 @@ keywords: - cable routing - addon - power connection -description: > +description: >- Enhance Leo Rover with the Powerbox module, offering multiple power sockets, external battery access, and seamless battery hot-swap capabilities. image: '/img/robots/leo/addons/powerbox/powerbox-render.webp' diff --git a/docs/leo-rover/addons/sandwich-plate/sandwich-plate.mdx b/docs/leo-rover/addons/sandwich-plate/sandwich-plate.mdx index 9c1b930e..c8ff26f9 100644 --- a/docs/leo-rover/addons/sandwich-plate/sandwich-plate.mdx +++ b/docs/leo-rover/addons/sandwich-plate/sandwich-plate.mdx @@ -8,7 +8,7 @@ keywords: - elevated plate - mounting plate - addon -description: > +description: >- Upgrade Leo Rover with an elevated mounting plate for added surface for LiDARs, cameras, and more. Simple assembly and versatile elevation options included. diff --git a/docs/leo-rover/addons/universal-camera-mast/universal-camera-mast.mdx b/docs/leo-rover/addons/universal-camera-mast/universal-camera-mast.mdx index 618a5539..2f8ab485 100644 --- a/docs/leo-rover/addons/universal-camera-mast/universal-camera-mast.mdx +++ b/docs/leo-rover/addons/universal-camera-mast/universal-camera-mast.mdx @@ -8,7 +8,7 @@ keywords: - manfrotto - addon - leo rover -description: > +description: >- Camera mast for the Leo Rover with Manfrotto 234RC tilt head. Mount any camera on your robot and adjust its orientation. image: '/img/robots/leo/addons/universal-camera-mast/universal-camera-mast-render.webp' diff --git a/docs/leo-rover/advanced-guides/_category_.json b/docs/leo-rover/advanced-guides/_category_.json index 6c0d39e4..23331b30 100644 --- a/docs/leo-rover/advanced-guides/_category_.json +++ b/docs/leo-rover/advanced-guides/_category_.json @@ -1,9 +1,11 @@ { - "label": "Advanced guides", - "position": 8, - "collapsible": true, - "collapsed": true, - "link": { - "type": "generated-index" - } -} \ No newline at end of file + "label": "Advanced guides", + "position": 8, + "collapsible": true, + "collapsed": true, + "link": { + "type": "generated-index", + "title": "Advanced guides for Leo Rover", + "slug": "leo-rover/advanced-guides" + } +} diff --git a/docs/leo-rover/advanced-guides/autonomous-navigation.mdx b/docs/leo-rover/advanced-guides/autonomous-navigation.mdx index 7bbc0d14..4a532b44 100644 --- a/docs/leo-rover/advanced-guides/autonomous-navigation.mdx +++ b/docs/leo-rover/advanced-guides/autonomous-navigation.mdx @@ -2,7 +2,7 @@ title: Autonomous Navigation sidebar_label: Autonomous Navigation sidebar_position: 6 -description: > +description: >- Learn how to enable autonomous navigation on your Leo Rover using SLAM, ROS packages, and sensors like IMU and LiDAR. --- diff --git a/docs/leo-rover/advanced-guides/connecting-many-rovers-together.mdx b/docs/leo-rover/advanced-guides/connecting-many-rovers-together.mdx index 20e6c933..e8d112e9 100644 --- a/docs/leo-rover/advanced-guides/connecting-many-rovers-together.mdx +++ b/docs/leo-rover/advanced-guides/connecting-many-rovers-together.mdx @@ -2,7 +2,7 @@ title: Connecting many rovers together sidebar_label: Connecting many rovers together sidebar_position: 7 -description: > +description: >- Learn how to configure multiple Leo Rovers to communicate on the same network and see each other using ROS namespaces and a single ROS master. --- diff --git a/docs/leo-rover/advanced-guides/install-ros-on-your-computer.mdx b/docs/leo-rover/advanced-guides/install-ros-on-your-computer.mdx index 02db2d02..a1ef6f61 100644 --- a/docs/leo-rover/advanced-guides/install-ros-on-your-computer.mdx +++ b/docs/leo-rover/advanced-guides/install-ros-on-your-computer.mdx @@ -2,7 +2,7 @@ title: Install ROS on your computer sidebar_label: Install ROS on your computer sidebar_position: 1 -description: > +description: >- Learn how to install the Robot Operating System (ROS) on your computer. Step-by-step guide for beginners. --- diff --git a/docs/leo-rover/advanced-guides/joystick.mdx b/docs/leo-rover/advanced-guides/joystick.mdx index 3e88b5ae..184ea450 100644 --- a/docs/leo-rover/advanced-guides/joystick.mdx +++ b/docs/leo-rover/advanced-guides/joystick.mdx @@ -2,7 +2,7 @@ title: Steering Leo Rover with a joystick sidebar_label: Steering Leo Rover with a joystick sidebar_position: 5 -description: > +description: >- Detailed guide on steering Leo Rover with a joystick, including setting up ROS packages, mapping axes and buttons. --- diff --git a/docs/leo-rover/advanced-guides/ros-2-support.mdx b/docs/leo-rover/advanced-guides/ros-2-support.mdx index 8db886de..a939b5b2 100644 --- a/docs/leo-rover/advanced-guides/ros-2-support.mdx +++ b/docs/leo-rover/advanced-guides/ros-2-support.mdx @@ -2,7 +2,7 @@ title: ROS 2 Support (experimental) sidebar_label: ROS 2 Support (experimental) sidebar_position: 8 -description: > +description: >- Get started with ROS 2 on your Leo Rover by flashing the experimental LeoOS image. Find out about the necessary firmware updates and configuration steps. --- @@ -141,7 +141,7 @@ The new firmware allows changing parameters at runtime via, for example, ### Not compatible software integrations -If you used any of our [integrations](/category/integrations) guides, you will +If you used any of our [integrations](/leo-rover/integrations) guides, you will have to adapt the software integration parts yourself. In some cases, it won't be possible due to missing ROS 2 packages. diff --git a/docs/leo-rover/advanced-guides/ros-development.mdx b/docs/leo-rover/advanced-guides/ros-development.mdx index 8bd3f948..14bf243b 100644 --- a/docs/leo-rover/advanced-guides/ros-development.mdx +++ b/docs/leo-rover/advanced-guides/ros-development.mdx @@ -2,7 +2,7 @@ title: ROS Development sidebar_label: ROS Development sidebar_position: 2 -description: > +description: >- Detailed guide on ROS development for Leo Rover, covering topics like adding additional functionalities, building ROS packages and more. --- @@ -576,10 +576,10 @@ external router (if you followed [Connect to the Internet tutorial](/leo-rover/guides/connect-to-network)). To properly communicate over the ROS network, your computer needs to be able to -resolve the master.localnet hostname. Open a terminal on your computer and type: +resolve the master.lan hostname. Open a terminal on your computer and type: ```bash -getent hosts master.localnet +getent hosts master.lan ``` If you don't see any output, that means you cannot resolve the hostname. @@ -590,7 +590,7 @@ through external router, add this line to the `/etc/hosts` file on your computer: ```bash -10.0.0.1 master.localnet +10.0.0.1 master.lan ``` :::warning @@ -601,7 +601,7 @@ of the Rover on your local network. ::: If everything works, you should be able to ping the rover by it's hostname. To -check it, type: `ping master.localnet`. +check it, type: `ping master.lan`. Now, to be connected in ROS network, you need to set some environment variables. Start by sourcing the result space you are using: @@ -613,7 +613,7 @@ source /opt/ros/${ROS_DISTRO}/setup.bash Specify the address of the master node: ```bash -export ROS_MASTER_URI=http://master.localnet:11311 +export ROS_MASTER_URI=http://master.lan:11311 ``` And your IP on the network: diff --git a/docs/leo-rover/advanced-guides/ros-graph-in-rqt.mdx b/docs/leo-rover/advanced-guides/ros-graph-in-rqt.mdx index b46f52e2..48c4ddea 100644 --- a/docs/leo-rover/advanced-guides/ros-graph-in-rqt.mdx +++ b/docs/leo-rover/advanced-guides/ros-graph-in-rqt.mdx @@ -2,7 +2,7 @@ title: ROS graph in RQT Tutorial sidebar_label: ROS graph in RQT Tutorial sidebar_position: 3 -description: > +description: >- Discover how to introspect the ROS computation graph using RQT, a powerful tool for ROS debugging and visualization. --- diff --git a/docs/leo-rover/advanced-guides/rviz.mdx b/docs/leo-rover/advanced-guides/rviz.mdx index d4b967db..8a034945 100644 --- a/docs/leo-rover/advanced-guides/rviz.mdx +++ b/docs/leo-rover/advanced-guides/rviz.mdx @@ -2,7 +2,7 @@ title: Visualizing the model using RViz sidebar_label: Visualizing the model using RViz sidebar_position: 4 -description: > +description: >- Learn how to visualize the Leo Rover model using RViz, including instructions for setting up the necessary packages and launching the visualization. --- diff --git a/docs/leo-rover/archive/_category_.json b/docs/leo-rover/archive/_category_.json index 358e003d..727f2227 100644 --- a/docs/leo-rover/archive/_category_.json +++ b/docs/leo-rover/archive/_category_.json @@ -1,9 +1,11 @@ { - "label": "Archive", - "position": 99, - "collapsible": true, - "collapsed": true, - "link": { - "type": "generated-index" - } -} \ No newline at end of file + "label": "Archives", + "position": 99, + "collapsible": true, + "collapsed": true, + "link": { + "type": "generated-index", + "title": "Leo Rover archives", + "slug": "leo-rover/archive" + } +} diff --git a/docs/leo-rover/archive/european-rover-challenge.mdx b/docs/leo-rover/archive/european-rover-challenge.mdx index 5ea06075..75d47b35 100644 --- a/docs/leo-rover/archive/european-rover-challenge.mdx +++ b/docs/leo-rover/archive/european-rover-challenge.mdx @@ -2,7 +2,7 @@ title: European Rover Challenge Remote sidebar_label: European Rover Challenge Remote sidebar_position: 1 -description: > +description: >- Explore documents related to the European Rover Challenge Remote Edition co-organized by Leo Rover in 2020-2022. --- diff --git a/docs/leo-rover/archive/old-manuals/_category_.json b/docs/leo-rover/archive/old-manuals/_category_.json new file mode 100644 index 00000000..770abea6 --- /dev/null +++ b/docs/leo-rover/archive/old-manuals/_category_.json @@ -0,0 +1,10 @@ +{ + "label": "Old assembly manuals", + "collapsible": true, + "collapsed": true, + "link": { + "type": "generated-index", + "title": "Old assembly manuals", + "slug": "/leo-rover/archive/old-manuals" + } +} diff --git a/docs/leo-rover/manuals/additional-quarter-and-front-cover.mdx b/docs/leo-rover/archive/old-manuals/additional-quarter-and-front-cover.mdx similarity index 60% rename from docs/leo-rover/manuals/additional-quarter-and-front-cover.mdx rename to docs/leo-rover/archive/old-manuals/additional-quarter-and-front-cover.mdx index f78bed49..08169794 100644 --- a/docs/leo-rover/manuals/additional-quarter-and-front-cover.mdx +++ b/docs/leo-rover/archive/old-manuals/additional-quarter-and-front-cover.mdx @@ -2,7 +2,7 @@ title: 'Task 5: Additional quarter and front cover' sidebar_label: 'Task 5: Additional quarter and front cover' sidebar_position: 6 -description: > +description: >- Detailed instructions for assembling Leo Rover's additional quarter and front cover, including necessary tools and estimated time. --- @@ -19,19 +19,19 @@ description: > @@ -47,13 +47,13 @@ Prepare: - T10 torx screwdriver @@ -100,13 +100,13 @@ Prepare: - T10 torx screwdriver @@ -136,7 +136,7 @@ Prepare: #### Good job! @@ -55,13 +55,13 @@ Prepare: - T10 torx key @@ -84,27 +84,27 @@ Prepare: - 1x button o-ring @@ -231,7 +231,7 @@ List of connections: - batter black wire to power connector black wire @@ -247,14 +247,14 @@ for the other type of button commonly used in our Leo Rover. ::: @@ -323,20 +323,20 @@ Prepare: - Philips cross-headed screwdriver + +To connect to Leo Rover, see: + + + +:::note + +This time you won't see the battery LED flashing. It will work only after +successfully performed Step 2. + +::: + +## Step 2: Flash the firmware + +Refer to: + + + +## Step 3: Access the Leo Rover UI + +Open any web browser and type: + +``` +10.0.0.1 +``` + + + +#### You're good to go! diff --git a/docs/leo-rover/manuals/final-touches.mdx b/docs/leo-rover/archive/old-manuals/final-touches.mdx similarity index 51% rename from docs/leo-rover/manuals/final-touches.mdx rename to docs/leo-rover/archive/old-manuals/final-touches.mdx index 77383d4b..5a9df0a9 100644 --- a/docs/leo-rover/manuals/final-touches.mdx +++ b/docs/leo-rover/archive/old-manuals/final-touches.mdx @@ -2,7 +2,7 @@ title: 'Task 9: Final touches' sidebar_label: 'Task 9: Final touches' sidebar_position: 10 -description: > +description: >- Finishing touches to the assembled Leo Rover - quarters assembly and battery connection. --- @@ -26,13 +26,13 @@ Prepare: @@ -47,37 +47,37 @@ Prepare: - 4mm hex-head key @@ -92,55 +92,55 @@ Prepare: - 4mm hex-head key @@ -153,19 +153,19 @@ Prepare: - 1x antenna diff --git a/docs/leo-rover/archive/old-manuals/frame-and-suspension.mdx b/docs/leo-rover/archive/old-manuals/frame-and-suspension.mdx new file mode 100644 index 00000000..3d8bfcc4 --- /dev/null +++ b/docs/leo-rover/archive/old-manuals/frame-and-suspension.mdx @@ -0,0 +1,643 @@ +--- +title: 'Task 3: Frame and suspension' +sidebar_label: 'Task 3: Frame and suspension' +sidebar_position: 4 +description: >- + Detailed instructions for assembling Leo Rover's Frame and suspension, + including necessary tools and estimated time. +--- + +## Preparation + +### Assembly time + +30 minutes + +### Tools needed + +- T10 torx screwdriver +- wide flat screwdriver (not-provided) +- 3mm hex-head key +- 5mm hex-head key +- 7mm hex-head wrench +- 10mm hex-head wrench + + + + + + + +## Step 1: Main axis bearing holder + +Prepare: + +- 8x m4x20 hex-headed screw (longest) +- 8x m4 nut +- 1x main frame (aluminum, painted grey) +- 2x main axis bearing holder with 2 bearings each (aluminum, machined) +- 3mm hex-head key +- 7mm hex-head wrench + + + + + + + + + + + + + + + + + + + +## Step 2: Differential bar holder + +Prepare: + +- step 1 assembly +- 1x differential bar holder (stainless steel) +- 3x m4x10 torx screw +- 3x m4 nut +- T10 screwdriver +- 7mm flat wrench + + + + + + + + + + + + + +## Step 3: Differential bar + +Prepare: + +- step 2 assembly +- 1x differential bar (aluminum, painted grey) +- 2x plastic plain bearings with flanges (black) +- 1x axis shoulder screw (black) +- 1x 8mm flat washer +- 1x m6 nut +- wide flat screwdriver (not provided) +- 10mm hex wrench + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 4: Main axis assembly + +Prepare: + +- 2x differential arm (steel, painted black) +- 2x ball bearing push-rod (plastic) +- 2x m6 screw +- 2x m6 nut +- 5mm hex-head key +- 10mm hex wrench + + + + + + + + + + + +## Step 5: Main axis assembly + +Prepare: + +- 1x step 3 assembly +- 2x step 4 assemblies +- 2x M6 screw +- 2x M6 nut +- 2x main axis screw (shoulder screw) +- 2x M8 washer +- 5mm hex-head key +- 10mm hex wrench + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 6: Wheel holders + +Prepare: + +- 2x type A wheel holder (steel, painted black) +- 2x type B wheel holder (steel, painted black) +- 16x M5x8 hex-head screws (with integrated washers) +- 16x t-nut +- 3mm hex-head key + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 7: Back frame + +Prepare: + +- step 6 assembly +- 1x back frame +- 4x M4x8 torx screws +- T10 torx screwdriver + + + + + + + + + + + +#### Done! Only 4 Tasks remaining and you'll be good to go. diff --git a/docs/leo-rover/archive/old-manuals/main-electronics-box-meb.mdx b/docs/leo-rover/archive/old-manuals/main-electronics-box-meb.mdx new file mode 100644 index 00000000..1ebae314 --- /dev/null +++ b/docs/leo-rover/archive/old-manuals/main-electronics-box-meb.mdx @@ -0,0 +1,816 @@ +--- +title: 'Task 2: Main electronics box (MEB)' +sidebar_label: 'Task 2: Main electronics box (MEB)' +sidebar_position: 3 +description: >- + Detailed instructions for assembling Leo Rover's Main electronics box, + including necessary tools and estimated time. +--- + +import Tabs from '@theme/Tabs'; +import TabItem from '@theme/TabItem'; + +## Preparation + +### Assembly time + +60 minutes + +### Tools needed + +- cross-head screwdriver +- T5x40 torx screwdriver +- 3mm hex-head key +- vaseline +- 8mm flat hex-head wrench + + + + + + + + + + + + + + +## Step 1: Camera shield + +Prepare: + +- 1x main electronics box (3D-printed) +- 1x camera shield +- 1x camera shield gasket +- 4x self-tapping torx screw (smallest in the kit) +- T5x40 torx screwdriver + + + + + + + + + + + + + +## Step 2: miniUSB and power cable + +Prepare: + +- step 2 assembly +- 1x power cable (3pin socket with barrel plug and green cable soldered) +- 1x miniUSB socket with USB-A connector +- 1x (optional) miniUSB socket cap (blue) + + + + + + + + + + + + + +## Step 3: Antenna cable + +Prepare: + +- step 2 assembly +- 1x antenna cable, a nut and toothed washer +- 1x small o-ring +- vaseline (optional) +- 8mm flat wrench + +:::warning + +Don't use the spring washer that may be provided with the antenna cable. Use +only the toothed washer. + +::: + + + + + + + + + + + + + + + +## Step 4: Camera + +Prepare: + +- step 3 assembly +- 1x fisheye camera (white box) +- 1x plastic camera mount (3D-printed) +- 4x 2.2x6.5 self-tapping screws (cross-headed) +- cross-head screwdriver + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 5: RaspberryPi and WiFi modem assembly + +Prepare: + +- step 4 assembly +- 1x RaspberryPi board +- 4x m2.5x18 plastic distances +- 4x m4x6 metal distances +- 1x ALFA USB WiFi modem +- 1x 90deg antenna adapter (from previous steps) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 6: Controller assembly and cabling + +Prepare: + +- step 5 assembly +- 1x controller electronics board (LeoCore/Husarion Core2-ROS) +- 4x m2.5x18 plastic distance + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +## Step 7: Electronics cover + +Prepare: + +- step 6 assembly +- 1x electronics cover (3D-printed) +- 2x small zip-ties +- 4x m2.5 plastic screws +- cross-head Philips screwdriver + + + + + + + + + + + + + + + + + + + + +## Step 8: MEB distances + +Prepare: + +- step 7 assembly +- 4x m4x6 metal distances +- Loctite glue +- 7mm hex wrench + + + + + + + +## Step 9: Seal and MEB cover + +Prepare: + +- step 8 assembly +- 1x rubber foam sealing cord +- 4x m4x10 screws +- 1x MEB cover (3D-printed) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#### Done! + + + + + + + + + diff --git a/docs/leo-rover/manuals/meb-to-frame.mdx b/docs/leo-rover/archive/old-manuals/meb-to-frame.mdx similarity index 63% rename from docs/leo-rover/manuals/meb-to-frame.mdx rename to docs/leo-rover/archive/old-manuals/meb-to-frame.mdx index f93852bf..6f080393 100644 --- a/docs/leo-rover/manuals/meb-to-frame.mdx +++ b/docs/leo-rover/archive/old-manuals/meb-to-frame.mdx @@ -2,7 +2,7 @@ title: 'Task 6: MEB to frame assembly' sidebar_label: 'Task 6: MEB to frame assembly' sidebar_position: 7 -description: > +description: >- Detailed instructions for assembling Leo Rover's Main electronics box to main frame of the rover. --- @@ -29,40 +29,40 @@ Prepare: diff --git a/docs/leo-rover/manuals/software.mdx b/docs/leo-rover/archive/old-manuals/software.mdx similarity index 61% rename from docs/leo-rover/manuals/software.mdx rename to docs/leo-rover/archive/old-manuals/software.mdx index 291a1a2b..060e68bf 100644 --- a/docs/leo-rover/manuals/software.mdx +++ b/docs/leo-rover/archive/old-manuals/software.mdx @@ -2,7 +2,7 @@ title: 'Task 8: Software' sidebar_label: 'Task 8: Software' sidebar_position: 9 -description: > +description: >- Detailed instructions for installing LeoOS on an assembled Leo Rover. --- @@ -21,7 +21,7 @@ description: > @@ -35,19 +35,19 @@ Prepare: - external computer with a SD card slot @@ -65,25 +65,25 @@ Prepare: - Step 1 microSD card @@ -95,13 +95,13 @@ Prepare: - Step 2 assembly @@ -115,25 +115,25 @@ Prepare: - 4mm hex-head key diff --git a/docs/leo-rover/manuals/tools.mdx b/docs/leo-rover/archive/old-manuals/tools.mdx similarity index 74% rename from docs/leo-rover/manuals/tools.mdx rename to docs/leo-rover/archive/old-manuals/tools.mdx index 02dc39fc..2c87833d 100644 --- a/docs/leo-rover/manuals/tools.mdx +++ b/docs/leo-rover/archive/old-manuals/tools.mdx @@ -7,7 +7,7 @@ description: Unboxing tools required to assemble Leo Rover dev kit. - + Find out what's next after assembling Leo Rover. Access technical support and + try software examples to learn about the robot's capabilities. +--- + +## Join private Leo Rover Community Slack workspace + +To connect our developers with your team for troubleshooting, maintenance and +support to make your development easier and faster. \ +Send us a request and we'll add you and your team to Slack + + + +## Try Leo Examples + +A pack of software examples that work with stock Rover. + + + + + + + +And other integrations and guides available in the Leo Rover Knowledge Base. + +Have fun! - Leo Rover team diff --git a/docs/leo-rover/archive/old-manuals/wheel-assembly.mdx b/docs/leo-rover/archive/old-manuals/wheel-assembly.mdx new file mode 100644 index 00000000..a3c07b16 --- /dev/null +++ b/docs/leo-rover/archive/old-manuals/wheel-assembly.mdx @@ -0,0 +1,393 @@ +--- +title: 'Task 1: Wheel assembly' +sidebar_label: 'Task 1: Wheel assembly' +sidebar_position: 2 +description: >- + Detailed instructions for assembling Leo Rover's wheels, including necessary + tools and estimated time. +--- + +## Preparation + +### Assembly time + +20 min per wheel / 80 min total + +### Tools needed + +- cross-head screwdriver +- 2.5mm hex key (metric) +- 3mm hex key (metric) +- lithium grease +- Loctite glue (anaerobic, low-strength) + + + + + +## Step 1: Motor assembly + +Prepare: + +- 1x DC motor with wheel cap and cable +- 1x wheel tube with bearings +- 4x 2.5x9.5 self tapping cross-head screws +- cross-head Phillips screwdriver + + + + + + + + + + + + + + + +## Step 2: Wheel mounts + +Prepare: + +- step 1 assembly +- 1x lower wheel mounting +- 1x upper wheel mounting +- 4x m4x12 hex screw +- 3mm hex-head key + + + + + + + + + +## Step 3: Shaft seal + +Prepare: + +- step 2 assembly +- 1x rubber radial shaft seal +- lithium grease + + + + + + + + + + + + + +## Step 4: Shaft adapter + +Prepare: + +- 1x shaft adapter(stainless steel) +- 1x m4x10 torque screw +- 2mm hex key +- Loctite glue + + + + + + + + + + + + + +## Step 5: Wheel rim + +Prepare: + +- step 4 assembly +- 1x wheel rim (3D-printed) +- 1x torque plate (3D-printed) +- 5x m4x8 round head screw +- 2mm hex-head key + + + + + + + + + + + + + + + + + +## Step 6: Tire + +Prepare: + +- step 5 assembly +- 1 x tire + + + + + + + + + + + +#### Good job! Now 3 more to go. + + diff --git a/docs/leo-rover/manuals/wheels-to-meb.mdx b/docs/leo-rover/archive/old-manuals/wheels-to-meb.mdx similarity index 56% rename from docs/leo-rover/manuals/wheels-to-meb.mdx rename to docs/leo-rover/archive/old-manuals/wheels-to-meb.mdx index af40074c..2762f3e1 100644 --- a/docs/leo-rover/manuals/wheels-to-meb.mdx +++ b/docs/leo-rover/archive/old-manuals/wheels-to-meb.mdx @@ -2,7 +2,7 @@ title: 'Task 7: Wheels to MEB assembly' sidebar_label: 'Task 7: Wheels to MEB assembly' sidebar_position: 8 -description: > +description: >- Detailed instructions for assembling Leo Rover's wheels to the main frame, including necessary tools and cable management. --- @@ -22,7 +22,7 @@ import TabItem from '@theme/TabItem'; @@ -30,24 +30,24 @@ import TabItem from '@theme/TabItem'; @@ -66,24 +66,24 @@ Prepare: @@ -115,7 +115,7 @@ Prepare: @@ -129,48 +129,48 @@ Prepare: @@ -280,31 +280,31 @@ Prepare: @@ -376,17 +376,17 @@ Prepare: diff --git a/docs/leo-rover/archive/turtle-rover.mdx b/docs/leo-rover/archive/turtle-rover.mdx new file mode 100644 index 00000000..738e5163 --- /dev/null +++ b/docs/leo-rover/archive/turtle-rover.mdx @@ -0,0 +1,95 @@ +--- +title: Turtle Rover docs +sidebar_label: Turtle Rover +sidebar_position: 1 +description: >- + Having a Turtle Rover? Access support and documentation here. Contact us for + support. +--- + +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +import LeoRover from '/docs/leo-rover/_leo-rover-product.mdx'; + +:::warning + +Turtle Rover has not been available for purchase since 2019. Its documentation +has not been updated for four years and is no longer available publicly. + +If you still have a Turtle Rover and need support, please contact us directly +at: + + + +::: + +:::tip + +If you are interested in a robot similar to Turtle Rover, consider checking our +current product - Leo Rover. + + + +::: + +## Turtle Rover original description + + + + + + + +Turtle Rover is open-source and built on RaspberryPi. You can put up to 10 kg of +equipment on top and it's waterproof. With open USB, I2C and Ethernet +connections you can use any of-the-shelf components to provide new +functionalities. + + + + + + + +Don't reinvent the wheel every time you want to build a robot, focus on the +add-ons and the functionalities that really matter. Turtle Rover is a stable +platform you can deploy outdoor as it's waterproof and built tough enough for +extreme environment. + +[Learn the code on GitHub](https://github.com/turtleRover) + + + + + + + + diff --git a/docs/leo-rover/documentation/_category_.json b/docs/leo-rover/documentation/_category_.json index eab1dcd8..eae4c542 100644 --- a/docs/leo-rover/documentation/_category_.json +++ b/docs/leo-rover/documentation/_category_.json @@ -1,9 +1,11 @@ { - "label": "Rover Documentation", - "position": 2, - "collapsible": true, - "collapsed": false, - "link": { - "type": "generated-index" - } -} \ No newline at end of file + "label": "Documentation", + "position": 2, + "collapsible": true, + "collapsed": false, + "link": { + "type": "generated-index", + "title": "Leo Rover documentation", + "slug": "/leo-rover/documentation" + } +} diff --git a/docs/leo-rover/documentation/downloads.mdx b/docs/leo-rover/documentation/downloads.mdx index 2df3a194..3f04481f 100644 --- a/docs/leo-rover/documentation/downloads.mdx +++ b/docs/leo-rover/documentation/downloads.mdx @@ -2,7 +2,7 @@ title: Downloads sidebar_label: Downloads sidebar_position: 3 -description: > +description: >- Download resources for the Leo Rover including LeoOS, firmware, CAD models and more. --- diff --git a/docs/leo-rover/documentation/faq.mdx b/docs/leo-rover/documentation/faq.mdx index 9edf3ea8..6911006c 100644 --- a/docs/leo-rover/documentation/faq.mdx +++ b/docs/leo-rover/documentation/faq.mdx @@ -2,7 +2,7 @@ title: Frequently asked questions sidebar_label: Frequently asked questions sidebar_position: 6 -description: > +description: >- Answers to frequently asked questions about the Leo Rover's features, setup, and use for robotics enthusiasts. --- diff --git a/docs/leo-rover/documentation/getting-started.mdx b/docs/leo-rover/documentation/getting-started.mdx index 865b9b60..b4a9b4d0 100644 --- a/docs/leo-rover/documentation/getting-started.mdx +++ b/docs/leo-rover/documentation/getting-started.mdx @@ -8,7 +8,7 @@ keywords: - rover - robot - maintenance -description: > +description: >- Leo Rover Setup: Quick guide on connecting, operating, and charging Leo Rover for optimal performance and longevity. image: /img/robots/leo/getting-started/leo-battery-allen.webp diff --git a/docs/leo-rover/documentation/known-issues.mdx b/docs/leo-rover/documentation/known-issues.mdx index c6415196..84402b9d 100644 --- a/docs/leo-rover/documentation/known-issues.mdx +++ b/docs/leo-rover/documentation/known-issues.mdx @@ -2,7 +2,7 @@ title: Known issues sidebar_label: Known issues sidebar_position: 5 -description: > +description: >- Download resources for the Leo Rover including hardware specs, software, wheels, addons, and more> --- diff --git a/docs/leo-rover/documentation/leo-rover-wheels.mdx b/docs/leo-rover/documentation/leo-rover-wheels.mdx index c1085f94..bf7cd918 100644 --- a/docs/leo-rover/documentation/leo-rover-wheels.mdx +++ b/docs/leo-rover/documentation/leo-rover-wheels.mdx @@ -2,7 +2,7 @@ title: Leo Rover wheels sidebar_label: Leo Rover wheels sidebar_position: 4 -description: > +description: >- Detailed specifications for the Leo Rover, including dimensions, speed, payload capacity, and more. Ideal for developers and enthusiasts. --- diff --git a/docs/leo-rover/documentation/specification.mdx b/docs/leo-rover/documentation/specification.mdx index e411cf36..9de6a31f 100644 --- a/docs/leo-rover/documentation/specification.mdx +++ b/docs/leo-rover/documentation/specification.mdx @@ -2,7 +2,7 @@ title: Leo Rover specification sidebar_label: Specification sidebar_position: 2 -description: > +description: >- Step-by-step guide to get your Leo Rover up and running, with tips on battery installation, turning on the rover, and accessing the web UI --- diff --git a/docs/leo-rover/guides/_category_.json b/docs/leo-rover/guides/_category_.json index afedea1c..a8911519 100644 --- a/docs/leo-rover/guides/_category_.json +++ b/docs/leo-rover/guides/_category_.json @@ -1,9 +1,11 @@ { - "label": "Guides", - "position": 7, - "collapsible": true, - "collapsed": true, - "link": { - "type": "generated-index" - } -} \ No newline at end of file + "label": "Guides", + "position": 7, + "collapsible": true, + "collapsed": true, + "link": { + "type": "generated-index", + "title": "Basic guides for Leo Rover", + "slug": "leo-rover/guides" + } +} diff --git a/docs/leo-rover/guides/access-video-stream.mdx b/docs/leo-rover/guides/access-video-stream.mdx index aa09d254..a1f78df0 100644 --- a/docs/leo-rover/guides/access-video-stream.mdx +++ b/docs/leo-rover/guides/access-video-stream.mdx @@ -2,7 +2,7 @@ title: Access the video stream sidebar_label: Access the video stream sidebar_position: 4 -description: > +description: >- Learn how to access a clean video stream preview from your Leo Rover. Use it to display the stream or for further development. --- diff --git a/docs/leo-rover/guides/ap-settings.mdx b/docs/leo-rover/guides/ap-settings.mdx index f666da35..34bb0fe5 100644 --- a/docs/leo-rover/guides/ap-settings.mdx +++ b/docs/leo-rover/guides/ap-settings.mdx @@ -2,7 +2,7 @@ title: Change the access point settings sidebar_label: Change the access point settings sidebar_position: 10 -description: > +description: >- Learn how to modify the Leo Rover's WiFi access point settings, including SSID, password, channel, and country code. --- diff --git a/docs/leo-rover/guides/connect-to-network.mdx b/docs/leo-rover/guides/connect-to-network.mdx index 4d30e499..3d0754f1 100644 --- a/docs/leo-rover/guides/connect-to-network.mdx +++ b/docs/leo-rover/guides/connect-to-network.mdx @@ -2,7 +2,7 @@ title: Connect to a local network and the Internet sidebar_label: Connect to a local network and the Internet sidebar_position: 5 -description: > +description: >- Learn how to connect your Leo Rover to a local network and the internet to download files and forward internet to your computer. --- diff --git a/docs/leo-rover/guides/connect-to-rover-ap.mdx b/docs/leo-rover/guides/connect-to-rover-ap.mdx index 54728c44..ec3fd852 100644 --- a/docs/leo-rover/guides/connect-to-rover-ap.mdx +++ b/docs/leo-rover/guides/connect-to-rover-ap.mdx @@ -2,7 +2,7 @@ title: Connect to Leo Rover AP sidebar_label: Connect to Leo Rover AP sidebar_position: 1 -description: > +description: >- Learn how to connect to your Leo Rover via WiFi. --- diff --git a/docs/leo-rover/guides/firmware-update.mdx b/docs/leo-rover/guides/firmware-update.mdx index d4ef47d7..d5223827 100644 --- a/docs/leo-rover/guides/firmware-update.mdx +++ b/docs/leo-rover/guides/firmware-update.mdx @@ -2,7 +2,7 @@ title: Firmware update sidebar_label: Firmware update sidebar_position: 8 -description: > +description: >- Learn how to easily update Leo Rover's firmware from Raspberry Pi without extra cables. Step-by-step guide. --- diff --git a/docs/leo-rover/guides/imu-calibration.mdx b/docs/leo-rover/guides/imu-calibration.mdx index 59e83f86..88411fa1 100644 --- a/docs/leo-rover/guides/imu-calibration.mdx +++ b/docs/leo-rover/guides/imu-calibration.mdx @@ -2,7 +2,7 @@ title: IMU calibration sidebar_label: IMU calibration sidebar_position: 9 -description: > +description: >- Learn how to calibrate the IMU sensor on your Leo Rover to resolve drift issues and get accurate sensor data. --- diff --git a/docs/leo-rover/guides/install-ros-on-usb.mdx b/docs/leo-rover/guides/install-ros-on-usb.mdx index a3d42da0..6bd05ba0 100644 --- a/docs/leo-rover/guides/install-ros-on-usb.mdx +++ b/docs/leo-rover/guides/install-ros-on-usb.mdx @@ -2,7 +2,7 @@ title: Install ROS on a bootable USB drive sidebar_label: Install ROS on a bootable USB drive sidebar_position: 11 -description: > +description: >- Learn how to create a bootable USB drive with Ubuntu and ROS preinstalled for easy setup and testing. --- diff --git a/docs/leo-rover/guides/remote-desktop.mdx b/docs/leo-rover/guides/remote-desktop.mdx index 83dfdd18..c1cfcfda 100644 --- a/docs/leo-rover/guides/remote-desktop.mdx +++ b/docs/leo-rover/guides/remote-desktop.mdx @@ -2,7 +2,7 @@ title: Connect via remote desktop sidebar_label: Connect via remote desktop sidebar_position: 3 -description: > +description: >- Learn how to remotely access your Leo Rover's desktop environment using RDP and popular remote desktop clients. --- diff --git a/docs/leo-rover/guides/software-update.mdx b/docs/leo-rover/guides/software-update.mdx index eee4493d..bf9f7de2 100644 --- a/docs/leo-rover/guides/software-update.mdx +++ b/docs/leo-rover/guides/software-update.mdx @@ -2,7 +2,7 @@ title: Software update sidebar_label: Software update sidebar_position: 7 -description: > +description: >- Detailed guide on updating the software of Leo Rover, covering steps to access the microSD card, download and flash the latest LeoOS image. --- diff --git a/docs/leo-rover/guides/ssh.mdx b/docs/leo-rover/guides/ssh.mdx index 28c03854..8a64419c 100644 --- a/docs/leo-rover/guides/ssh.mdx +++ b/docs/leo-rover/guides/ssh.mdx @@ -2,7 +2,7 @@ title: Connect via SSH sidebar_label: Connect via SSH sidebar_position: 2 -description: > +description: >- Learn how to establish an SSH connection with your Leo Rover and access its terminal using Putty or OpenSSH. --- diff --git a/docs/leo-rover/guides/upload-files-to-rover.mdx b/docs/leo-rover/guides/upload-files-to-rover.mdx index 36097d04..55a0d6c8 100644 --- a/docs/leo-rover/guides/upload-files-to-rover.mdx +++ b/docs/leo-rover/guides/upload-files-to-rover.mdx @@ -2,7 +2,7 @@ title: Upload files to Leo Rover sidebar_label: Upload files to Leo Rover sidebar_position: 6 -description: > +description: >- Learn how to upload files to your Leo Rover using FTP via WinSCP, scp, or sshfs. Detailed steps for connecting via WiFi and transferring files. --- diff --git a/docs/leo-rover/integrations/_category_.json b/docs/leo-rover/integrations/_category_.json index 0377cbd5..a6478b26 100644 --- a/docs/leo-rover/integrations/_category_.json +++ b/docs/leo-rover/integrations/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { - "title": "Integrations overview", - "type": "generated-index" + "type": "generated-index", + "title": "Leo Rover integrations", + "slug": "leo-rover/integrations" } } diff --git a/docs/leo-rover/integrations/addon-adapters.mdx b/docs/leo-rover/integrations/addon-adapters.mdx index 20aa6beb..a975ae8f 100644 --- a/docs/leo-rover/integrations/addon-adapters.mdx +++ b/docs/leo-rover/integrations/addon-adapters.mdx @@ -2,7 +2,7 @@ title: Integrations' adapters sidebar_label: Integrations' adapters sidebar_position: 1 -description: > +description: >- Access a variety of Leo Rover adapter designs for easy integrations with various sensors and components. --- diff --git a/docs/leo-rover/integrations/cameras/_category_.json b/docs/leo-rover/integrations/cameras/_category_.json index fa4ce9b7..1ec735d6 100644 --- a/docs/leo-rover/integrations/cameras/_category_.json +++ b/docs/leo-rover/integrations/cameras/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Camera integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/cameras" } } diff --git a/docs/leo-rover/integrations/cameras/intel-realsense.mdx b/docs/leo-rover/integrations/cameras/intel-realsense.mdx index 198ec9b6..21535b07 100644 --- a/docs/leo-rover/integrations/cameras/intel-realsense.mdx +++ b/docs/leo-rover/integrations/cameras/intel-realsense.mdx @@ -11,7 +11,7 @@ keywords: - autonomy - leo - example -description: > +description: >- Learn how to connect an Intel RealSense camera to your Leo Rover and integrate it with the system using ROS. image: /img/robots/leo/integrations/intel-realsense/intel-realsense.webp @@ -250,4 +250,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/cameras/luxonis-oak-d.mdx b/docs/leo-rover/integrations/cameras/luxonis-oak-d.mdx index 20311d74..4191aefd 100644 --- a/docs/leo-rover/integrations/cameras/luxonis-oak-d.mdx +++ b/docs/leo-rover/integrations/cameras/luxonis-oak-d.mdx @@ -10,7 +10,7 @@ keywords: - autonomy - leo - example -description: > +description: >- Learn how to connect an Oak-D stereo camera to your Leo Rover for robotic vision applications like mapping, object recognition, and 3D scanning. image: /img/robots/leo/integrations/oak-d/oak-d-ucm.webp @@ -310,4 +310,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/cameras/stereolabs-zed.mdx b/docs/leo-rover/integrations/cameras/stereolabs-zed.mdx index 14e08f80..eaf34293 100644 --- a/docs/leo-rover/integrations/cameras/stereolabs-zed.mdx +++ b/docs/leo-rover/integrations/cameras/stereolabs-zed.mdx @@ -10,7 +10,7 @@ keywords: - autonomy - leo - example -description: > +description: >- Integrate the ZED camera with your Leo Rover using the ZED ROS wrapper package and get data like depth maps and point clouds. @@ -153,7 +153,7 @@ will communicate with the correct ROS master. To export the variables, type on your board computer: ```bash -export ROS_MASTER_URI=http://master.localnet:11311 +export ROS_MASTER_URI=http://master.lan:11311 export ROS_IP= ``` @@ -242,4 +242,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/computing-devices/_category_.json b/docs/leo-rover/integrations/computing-devices/_category_.json index c7b919d1..1cd9cb52 100644 --- a/docs/leo-rover/integrations/computing-devices/_category_.json +++ b/docs/leo-rover/integrations/computing-devices/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { - "title": "Computers & Microcontrollers integrations", - "type": "generated-index" + "type": "generated-index", + "title": "Computing devices", + "slug": "leo-rover/integrations/computing-devices" } } diff --git a/docs/leo-rover/integrations/computing-devices/arduino.mdx b/docs/leo-rover/integrations/computing-devices/arduino.mdx index 6295e136..5d8fe5a3 100644 --- a/docs/leo-rover/integrations/computing-devices/arduino.mdx +++ b/docs/leo-rover/integrations/computing-devices/arduino.mdx @@ -7,7 +7,7 @@ keywords: - integration - leo - example -description: > +description: >- Discover the benefits of using Arduino with Leo Rover, including simplified hardware projects and faster development. image: /img/robots/leo/integrations/arduino/arduino-on-leo.webp diff --git a/docs/leo-rover/integrations/computing-devices/nvidia-jetson.mdx b/docs/leo-rover/integrations/computing-devices/nvidia-jetson.mdx index d8e76dbf..fda7649a 100644 --- a/docs/leo-rover/integrations/computing-devices/nvidia-jetson.mdx +++ b/docs/leo-rover/integrations/computing-devices/nvidia-jetson.mdx @@ -9,7 +9,7 @@ keywords: - integration - leo - example -description: > +description: >- Learn how to connect a powerful additional computer like NVIDIA Jetson to your Leo Rover for resource-intensive projects. image: /img/robots/leo/integrations/additional-computer/jetson-on-leo.webp diff --git a/docs/leo-rover/integrations/legacy/_category_.json b/docs/leo-rover/integrations/legacy/_category_.json index 3470fec0..02cc4800 100644 --- a/docs/leo-rover/integrations/legacy/_category_.json +++ b/docs/leo-rover/integrations/legacy/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Legacy integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/legacy" } } diff --git a/docs/leo-rover/integrations/legacy/additional-ui.mdx b/docs/leo-rover/integrations/legacy/additional-ui.mdx index f4c47479..9914ae96 100644 --- a/docs/leo-rover/integrations/legacy/additional-ui.mdx +++ b/docs/leo-rover/integrations/legacy/additional-ui.mdx @@ -7,7 +7,7 @@ keywords: - nginx - integration - leo -description: > +description: >- Learn how to include an additional UI on the Leo Rover and reconfigure the HTTP server. Detailed steps provided. --- diff --git a/docs/leo-rover/integrations/legacy/arbotix.mdx b/docs/leo-rover/integrations/legacy/arbotix.mdx index 70b0fa23..f75aa2de 100644 --- a/docs/leo-rover/integrations/legacy/arbotix.mdx +++ b/docs/leo-rover/integrations/legacy/arbotix.mdx @@ -6,7 +6,7 @@ keywords: - dynamixel - leo - integration -description: > +description: >- Learn how to use the ArbotiX-M Robocontroller board to control DYNAMIXEL servos with ROS. Includes setup guide and example code. --- diff --git a/docs/leo-rover/integrations/legacy/digital-servos.mdx b/docs/leo-rover/integrations/legacy/digital-servos.mdx index b70a6516..d124edcb 100644 --- a/docs/leo-rover/integrations/legacy/digital-servos.mdx +++ b/docs/leo-rover/integrations/legacy/digital-servos.mdx @@ -5,7 +5,7 @@ keywords: - servo - leo - integration -description: > +description: >- Expand your Leo Rover's capabilities with digital servos. Quick and easy integration instructions provided. --- diff --git a/docs/leo-rover/integrations/legacy/grove-imu.mdx b/docs/leo-rover/integrations/legacy/grove-imu.mdx index 9b33aa50..d734f589 100644 --- a/docs/leo-rover/integrations/legacy/grove-imu.mdx +++ b/docs/leo-rover/integrations/legacy/grove-imu.mdx @@ -7,7 +7,7 @@ keywords: - imu - integration - leo -description: > +description: >- Integrate an IMU module with Leo Rover to add gyroscope, accelerometer and magnetometer readings. Modify URDF model and calibrate sensors. --- diff --git a/docs/leo-rover/integrations/legacy/relay-module.mdx b/docs/leo-rover/integrations/legacy/relay-module.mdx index a741fa91..9fe4b4eb 100644 --- a/docs/leo-rover/integrations/legacy/relay-module.mdx +++ b/docs/leo-rover/integrations/legacy/relay-module.mdx @@ -5,7 +5,7 @@ keywords: - relay - leo - integration -description: > +description: >- Detailed tutorial on integrating a generic relay module with your Leo Rover, including wiring, firmware updates, and launching a new UI --- diff --git a/docs/leo-rover/integrations/legacy/trossen-phantomx-pincher.mdx b/docs/leo-rover/integrations/legacy/trossen-phantomx-pincher.mdx index 6c5226b3..8738549e 100644 --- a/docs/leo-rover/integrations/legacy/trossen-phantomx-pincher.mdx +++ b/docs/leo-rover/integrations/legacy/trossen-phantomx-pincher.mdx @@ -8,7 +8,7 @@ keywords: - dynamixel - leo - integration -description: > +description: >- Learn how to configure and control the PhantomX Pincher robotic arm with Leo Rover using ROS. Detailed setup guide included. --- diff --git a/docs/leo-rover/integrations/legacy/ublox-neo6m.mdx b/docs/leo-rover/integrations/legacy/ublox-neo6m.mdx index 7dfba6fd..cf7f90e8 100644 --- a/docs/leo-rover/integrations/legacy/ublox-neo6m.mdx +++ b/docs/leo-rover/integrations/legacy/ublox-neo6m.mdx @@ -6,7 +6,7 @@ keywords: - gps - leo - integration -description: > +description: >- Detailed tutorial on connecting a U-blox NEO-6m GPS module to the Leo Rover Core2ROS driver and configuring it for NMEA data output --- diff --git a/docs/leo-rover/integrations/lidars/_category_.json b/docs/leo-rover/integrations/lidars/_category_.json index 81a3320e..782cfc3a 100644 --- a/docs/leo-rover/integrations/lidars/_category_.json +++ b/docs/leo-rover/integrations/lidars/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Lidars integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/lidars" } } diff --git a/docs/leo-rover/integrations/lidars/hokuyo-ug-04lx-ug01.mdx b/docs/leo-rover/integrations/lidars/hokuyo-ug-04lx-ug01.mdx index a75b7d5b..1482e2f1 100644 --- a/docs/leo-rover/integrations/lidars/hokuyo-ug-04lx-ug01.mdx +++ b/docs/leo-rover/integrations/lidars/hokuyo-ug-04lx-ug01.mdx @@ -8,7 +8,7 @@ keywords: - leo - integration - example -description: > +description: >- Learn how to connect a Hokuyo LiDAR sensor to your Leo Rover for mapping, object detection, and SLAM applications. image: /img/robots/leo/integrations/hokuyo-lidar/hokuyo-lidar.webp @@ -302,4 +302,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/lidars/ouster-os0.mdx b/docs/leo-rover/integrations/lidars/ouster-os0.mdx index 5ebd79ad..6b056508 100644 --- a/docs/leo-rover/integrations/lidars/ouster-os0.mdx +++ b/docs/leo-rover/integrations/lidars/ouster-os0.mdx @@ -10,7 +10,7 @@ keywords: - integration - waterproof - example -description: > +description: >- Detailed tutorial on setting up the Ouster LiDAR, a powerful and lightweight sensor, that works in both outdoor and indoor autonomous vehicles and mobile robots. @@ -403,4 +403,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/lidars/slamtec-rplidar-a2.mdx b/docs/leo-rover/integrations/lidars/slamtec-rplidar-a2.mdx index 0e499e6b..6e4e2b08 100644 --- a/docs/leo-rover/integrations/lidars/slamtec-rplidar-a2.mdx +++ b/docs/leo-rover/integrations/lidars/slamtec-rplidar-a2.mdx @@ -9,7 +9,7 @@ keywords: - leo - integration - example -description: > +description: >- Learn how to connect an RPLiDAR A2M8/A2M12 sensor to your Leo Rover for 2D mapping and more. Detailed tutorial mechanical and software integration. image: /img/robots/leo/integrations/rplidar-a2/rplidar-a2.webp @@ -331,4 +331,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/lidars/slamtec-rplidar-s3.mdx b/docs/leo-rover/integrations/lidars/slamtec-rplidar-s3.mdx index f65d3042..399b5fcf 100644 --- a/docs/leo-rover/integrations/lidars/slamtec-rplidar-s3.mdx +++ b/docs/leo-rover/integrations/lidars/slamtec-rplidar-s3.mdx @@ -10,7 +10,7 @@ keywords: - integration - waterproof - example -description: > +description: >- Learn how to connect an RPLiDAR S3 sensor to your Leo Rover for 2D mapping and more. Detailed tutorial mechanical and software integration. image: /img/robots/leo/integrations/rplidar-a2/rviz-map-lidar.webp @@ -326,4 +326,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/lidars/velodyne-puck.mdx b/docs/leo-rover/integrations/lidars/velodyne-puck.mdx index cc0d4b3c..1c3df4ed 100644 --- a/docs/leo-rover/integrations/lidars/velodyne-puck.mdx +++ b/docs/leo-rover/integrations/lidars/velodyne-puck.mdx @@ -10,7 +10,7 @@ keywords: - integration - waterproof - example -description: > +description: >- Detailed tutorial on setting up the Velodyne Puck LiDAR, a compact and lightweight sensor ideal for autonomous vehicles and mobile robotics. image: /img/robots/leo/integrations/velodyne-puck/velodyne-puck-mast.webp @@ -609,4 +609,4 @@ might be interested in a tutorial about it. They are however, not the only way of teaching a Leo Rover how to move on it's own. Check out our [line follower](/leo-rover/leo-examples/line-follower) tutorial if you want to learn more. You can also check our -[Integrations page](/category/integrations) for more instructions. +[Integrations page](/leo-rover/integrations) for more instructions. diff --git a/docs/leo-rover/integrations/positioning-systems/_category_.json b/docs/leo-rover/integrations/positioning-systems/_category_.json index 4ff5b30f..5a27db5e 100644 --- a/docs/leo-rover/integrations/positioning-systems/_category_.json +++ b/docs/leo-rover/integrations/positioning-systems/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Positioning systems integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/positioning-systems" } } diff --git a/docs/leo-rover/integrations/positioning-systems/fixposition-vision-rtk-2.mdx b/docs/leo-rover/integrations/positioning-systems/fixposition-vision-rtk-2.mdx index 6d518b4b..acf66a6e 100644 --- a/docs/leo-rover/integrations/positioning-systems/fixposition-vision-rtk-2.mdx +++ b/docs/leo-rover/integrations/positioning-systems/fixposition-vision-rtk-2.mdx @@ -11,7 +11,7 @@ keywords: - integration - Real-Time Kinematic - example -description: > +description: >- Integrate Fixposition's centimeter-level accurate GPS module with Leo Rover to enable unparalleled navigation for research and industry. image: /img/robots/leo/integrations/vision-rtk2/leo-with-vision-rtk2.webp diff --git a/docs/leo-rover/integrations/positioning-systems/marvelmind-rtls.mdx b/docs/leo-rover/integrations/positioning-systems/marvelmind-rtls.mdx index 0d00dc01..f40e636e 100644 --- a/docs/leo-rover/integrations/positioning-systems/marvelmind-rtls.mdx +++ b/docs/leo-rover/integrations/positioning-systems/marvelmind-rtls.mdx @@ -12,7 +12,7 @@ keywords: - leo - integration - example -description: > +description: >- Marvelmind Indoor "GPS" integration guide for Leo Rover, an off-the-shelf indoor navigation system for autonomous robots. image: /img/robots/leo/integrations/marvelmind-gps/marvelmind-set.webp @@ -705,5 +705,5 @@ instructions here: Now, that you know how to use in-door GPS you might want to learn about outdoor GPS. Check out our tutorial on [U-blox GPS Module](/leo-rover/integrations/positioning-systems/ublox-evk-m8n). -Or go to our [Integrations page](/category/integrations) site, where you can +Or go to our [Integrations page](/leo-rover/integrations) site, where you can find more tutorials on a range of topics. diff --git a/docs/leo-rover/integrations/positioning-systems/ublox-evk-m8n.mdx b/docs/leo-rover/integrations/positioning-systems/ublox-evk-m8n.mdx index 22e26def..08533733 100644 --- a/docs/leo-rover/integrations/positioning-systems/ublox-evk-m8n.mdx +++ b/docs/leo-rover/integrations/positioning-systems/ublox-evk-m8n.mdx @@ -7,7 +7,7 @@ keywords: - leo - integration - example -description: > +description: >- Explore the steps to gather GPS data from a UBlox GPS module and integrate it with your Leo Rover system using the UBlox EVK-M8N GPS module example. image: /img/robots/leo/integrations/ublox-gps/ublox-evk-m8n-shop.webp @@ -306,5 +306,5 @@ tutorial on indoor [autonomous navigation](/leo-rover/advanced-guides/autonomous-navigation) you might be something you'll be interested in. -You can also check our [Integrations page](/category/integrations) for other +You can also check our [Integrations page](/leo-rover/integrations) for other instructions. diff --git a/docs/leo-rover/integrations/robotic-arms/_category_.json b/docs/leo-rover/integrations/robotic-arms/_category_.json index ed7cfd2d..3ba0a31c 100644 --- a/docs/leo-rover/integrations/robotic-arms/_category_.json +++ b/docs/leo-rover/integrations/robotic-arms/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Robotic arms integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/robotic-arms" } } diff --git a/docs/leo-rover/integrations/robotic-arms/trossen-pincherx-100.mdx b/docs/leo-rover/integrations/robotic-arms/trossen-pincherx-100.mdx index a7aa163d..1d931b2d 100644 --- a/docs/leo-rover/integrations/robotic-arms/trossen-pincherx-100.mdx +++ b/docs/leo-rover/integrations/robotic-arms/trossen-pincherx-100.mdx @@ -10,7 +10,7 @@ keywords: - leo - integration - example -description: > +description: >- Extend Leo Rover's capabilities with the 4DOF, 300mm reach PincherX 100 Mobile robotic arm. Tutorial for mechanical and software integration. image: /img/robots/leo/integrations/pincherx-100-mobile/pincher-on-leo.webp @@ -560,4 +560,4 @@ a look at ## What next? If you found this tutorial interesting, make sure to check out other tutorials -we provide on our [Integrations](/category/integrations) site. +we provide on our [Integrations](/leo-rover/integrations) site. diff --git a/docs/leo-rover/integrations/robotic-arms/trossen-widowx-250.mdx b/docs/leo-rover/integrations/robotic-arms/trossen-widowx-250.mdx index 16138e37..6a9c061c 100644 --- a/docs/leo-rover/integrations/robotic-arms/trossen-widowx-250.mdx +++ b/docs/leo-rover/integrations/robotic-arms/trossen-widowx-250.mdx @@ -10,7 +10,7 @@ keywords: - leo - integration - example -description: > +description: >- Detailed tutorial on mounting the WidowX 250 arm, configuring ROS packages, and remotely operating the arm from your Leo Rover. image: /img/robots/leo/integrations/widowx-250/leo-with-widowx250.webp @@ -22,6 +22,15 @@ import LiteYouTubeEmbed from 'react-lite-youtube-embed'; In this tutorial, we will show you how to integrate and remotely control the Trossen Robotics' WidowX 250 robotic arm. +:::info + +This tutorial shows how to integrate the WidowX 250 6 DOF version with Leo +Rover. If you have the 5 DOF version, the integration process stays mostly the +same. The difference is the robot model name - for 5 DOF version it is `wx250` +instead of `wx250s`. So make sure to adjust all of the steps accordingly. + +::: + With 6 degrees of freedom and reach of 650mm WidowX 250 robotic arm is the biggest, and the most capable, robot arm we have ever tried to stick onto a Leo Rover. @@ -73,7 +82,7 @@ the modified support plate designed for our robot, you can use screws and nuts to connect the arm to the rover's mounting plate. If you have the original support plate, you can get the model for 3D printing -here (**addons** section): +here: @@ -109,73 +118,82 @@ if you have your own preferable method of editing files, feel free to use it. ::: -We need to make sure the U2D2 device is available at a fixed path on rover's -system. To do this, you can add a rule to `udev`. Open a new `.rules` file with -`nano`: +:::info -```bash -sudo nano /etc/udev/rules.d/u2d2.rules -``` +There is a way to install all of the software using a +[script prepared by a manufacturer](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros1/software_setup.html#raspberry-pi-4b-arm64-architecture). +This script streamlines the installation process, however a lot of non-essential +packages are installed with it and if you want to minimize the amount of disk +space required we recommend following the steps below. + +::: -and paste the following rule: +Make sure that your rover is connected to internet. If not, follow the guide +below. + + + +Update the system to ensure that the newest versions of the packages and +repositories are used: ```bash -SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL" +sudo apt-get update && sudo apt -y upgrade ``` -To save the file, type **Ctrl+O** and **Enter** to confirm. Type **Ctrl+X** to -exit nano. - -For the rule to take effect, reboot the system or just type: +Make sure that your ROS is sourced: ```bash -sudo udevadm control --reload-rules && sudo udevadm trigger +source /opt/ros//setup.bash ``` -The device should now be available under `/dev/ttyDXL` path. You can check it by -typing: +Replace `` with installed ROS distribution (e.g. `noetic`). + +Install the essential packages: ```bash -ls -l /dev/ttyDXL +sudo apt-get install -yq curl git +sudo apt-get install -yq python3-pip +python3 -m pip install modern_robotics +sudo apt-get install -yq python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential ``` -To integrate the arm, you will need to build some additional ROS packages. Start -by creating a local catkin workspace, if you don't have one yet: +Create a ROS workspace and clone the repositories: ```bash -mkdir -p ~/ros_ws/src -cd ~/ros_wscatkin -config --extend /opt/ros/${ROS_DISTRO} +mkdir -p /home/pi/interbotix_ws/src +cd /home/pi/interbotix_ws/src +git clone -b ${ROS_DISTRO} https://github.com/Interbotix/interbotix_ros_core.git +git clone -b ${ROS_DISTRO} https://github.com/Interbotix/interbotix_ros_manipulators.git +git clone -b ${ROS_DISTRO} https://github.com/Interbotix/interbotix_ros_toolboxes.git ``` -The package sources for the arm are available on Github at the -[interbotix_ros_arms](https://github.com/Interbotix/interbotix_ros_arms) -repository. Clone the repository to your source space: +By default Interbotix packages contain a CATKIN_IGNORE file which prevents them +from being built. To build the packages for WidowX250, remove the following +CATKIN_IGNORE files: ```bash -cd ~/ros_ws/src -git clone https://github.com/Interbotix/interbotix_ros_arms.git +rm interbotix_ros_core/interbotix_ros_xseries/CATKIN_IGNORE interbotix_ros_manipulators/interbotix_ros_xsarms/CATKIN_IGNORE interbotix_ros_toolboxes/interbotix_rpi_toolbox/CATKIN_IGNORE interbotix_ros_toolboxes/interbotix_xs_toolbox/CATKIN_IGNORE interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/CATKIN_IGNORE ``` -On the rover, you will only need the driver node for the arm (`interbotix_sdk` -package) and the URDF description (`interbotix_descriptions` package). To speed -up the building process, remove the unwanted packages: +We need to make sure the device is available at a fixed path on rover's system. +To do this, you can copy a provided file that will add a rule to `udev`: ```bash -mv interbotix_ros_arms/interbotix_descriptions ./ -mv interbotix_ros_arms/interbotix_sdk ./ -rm -rf interbotix_ros_arms +cd interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk +sudo cp 99-interbotix-udev.rules /etc/udev/rules.d/ +sudo udevadm control --reload-rules && sudo udevadm trigger ``` -Now, use `rosdep` to install any dependent packages: +Install ROS dependencies using `rosdep`: ```bash -cd ~/ros_ws +sudo rosdep init rosdep update -rosdep install --from-paths src -iry +cd /home/pi/interbotix_ws +rosdep install --from-paths src --ignore-src -r -y ``` -and build the workspace: +After the dependencies are installed, build the workspace: ```bash catkin build -j 1 @@ -185,45 +203,41 @@ Once the packages have been built, you can edit the environmental setup file to point to your result space. Open the file in `nano`: ```bash -sudo nano /etc/ros/setup.bash +nano /etc/ros/setup.bash ``` Comment out the first line by adding `#` sign and add the source command for your workspace. The first 2 lines should look essentially like this: ```bash -# source /opt/ros/melodic/setup.bash -source /home/pi/ros_ws/devel/setup.bash +#source /opt/ros/noetic/setup.bash +source /home/pi/interbotix_ws/devel/setup.bash ``` -Now, to add the arm's driver to the rover's launch file, open the `robot.launch` -file: +Now, to add the configured arm's driver to the rover's launch file, open the +`robot.launch` file: ```bash -sudo nano /etc/ros/robot.launch +nano /etc/ros/robot.launch ``` and paste these lines somewhere between the `` tags: ```xml - - - - - - - - - - - + + + + ``` +This will start the arm driver node with the specified parameters on rover +startup. + :::info You can learn more about the driver's parameters and functionalities at the -[interbotix_sdk README page](https://github.com/Interbotix/interbotix_ros_arms/tree/master/interbotix_sdk). +[interbotix_xsarm_control documentation](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros1_packages/arm_control.html). ::: @@ -231,21 +245,24 @@ You can also edit the robot's URDF file to connect the arm's base link to the rover's model. To do this, open the `robot.urdf.xacro` file: ```bash -sudo nano /etc/ros/urdf/robot.urdf.xacro +nano /etc/ros/urdf/robot.urdf.xacro ``` and paste these lines somewhere between the `` tags: ```xml - + - + ``` +Make sure that the origin coordinates are set correctly to match the arm's +position on the rover. + :::info To learn more about what the files under /etc/ros are used for and how do they @@ -263,100 +280,78 @@ the other nodes. You can manually restart the running nodes by typing: sudo systemctl restart leo ``` +:::warning + +If power to the arm is cut (e.g. when the rover is turned off) all of the arm's +motors will be switched off. This means that the arm will collapse +uncontrollably. + +To prevent it hold the arm manually or place it in a secure position before +turning off the rover. + +::: + ## Examples ### Controlling the arm Now that you have the driver running, you should see the new ROS topics and -services under the `/wx250` namespace. For a full description of the ROS API, +services under the `/wx250s` namespace. For a full description of the ROS API, visit the -[interbotix_sdk README page](https://github.com/Interbotix/interbotix_ros_arms/tree/master/interbotix_sdk). +[manufacturer documentation](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros1.html). You can test some of the features with the `rostopic` and `rosservice` command-line tools: -Retrieve the information about the arm: - -```bash -rosservice call /wx250/get_robot_info -``` - Publish position command to the elbow joint: ```bash -rostopic pub /wx250/single_joint/command interbotix_sdk/SingleCommand "{joint_name: elbow, cmd: -0.5}" +rostopic pub /wx250s/commands/joint_single interbotix_xs_msgs/JointSingleCommand "name: 'elbow' +cmd: -0.5" ``` -Turn off the torque on all joints: - -```bash -rosservice call /wx250/torque_joints_off -``` - -The [interbotix_ros_arms](https://github.com/Interbotix/interbotix_ros_arms) -repository contains some packages that will let you control the arm in different -ways. To use them on your computer, you will need to have ROS installed: - - - -and properly configured to communicate with the nodes running on the rover. For -this, you can visit **Connecting other computer to ROS network** section of the -**ROS Development** tutorial: - - - -First, install some prerequisites: - -```bash -sudo apt install python-catkin-tools -sudo -H pip install modern_robotics -``` +:::warning -:::note +Be careful while commanding individual arm joints. The driver doesn't prevent +self-collisions in this mode of operation. -The `modern_robotics` python package is required to run the joystick control -example. +Be ready to stop publishing the movement command if the arm moves in an +unexpected way. ::: -and create a catkin workspace: +Turn off the torque on all joints: ```bash -mkdir -p ~/ros_ws/src -cd ~/ros_ws -catkin config --extend /opt/ros/${ROS_DISTRO} +rosservice call /wx250s/torque_enable "{cmd_type: 'group', name: 'all', enable: false}" ``` -Clone the `interbotix_ros_arms` and `leo_description` repositories into the -source space: +Turn the torque back on: ```bash -cd ~/ros_ws/src -git clone https://github.com/Interbotix/interbotix_ros_arms.git -b melodic -git clone https://github.com/LeoRover/leo_description.git +rosservice call /wx250s/torque_enable "{cmd_type: 'group', name: 'all', enable: true}" ``` -Install dependencies using the `rosdep` tool: +All of the examples below require Interbotix ROS packages to be installed on +your computer. To do that you can either repeat the steps from the previous +section on your pc or use a +[script provided by the manufacturer](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros1/software_setup.html#amd64-architecture). +Here the script is recommended. -```bash -cd ~/ros_ws -rosdep update -rosdep install --from-paths src -iy -``` +Make sure that ROS in installed on your computer: -and build the workspace: + -```bash -catkin build -``` +and properly configured to communicate with the nodes running on the rover. For +this, you can visit **Connecting other computer to ROS network** section of the +**ROS Development** tutorial: + + -Now, `source` the devel space to make the new packages visible in your shell -environment: +After the installation `source` the devel space to make the new packages visible +in your shell environment: ```bash -source ~/ros_ws/devel/setup.bash +source ~/interbotix_ws/devel/setup.bash ``` :::info @@ -397,7 +392,7 @@ on, so it is convenient to add this line to the `~/.bashrc` file. /> - Add another **RobotModel** display, but for the **Robot Description** - parameter choose `wx250/robot_description`. + parameter choose `wx250s/robot_description`. +:::tip + +If the arm is not properly aligned with the rover you can go back to +`/etc/ros/urdf/robot.urdf.xacro` file and adjust the `origin` coordinates of the +`arm_joint`. + +::: + +### Using gamepad with joystick to control the arm + +The `interbotix_xsarm_joy` package provides the capability to control the +movement of the arm (utilizing inverse kinematics) with a PS3, PS4 or an Xbox +gamepad. + +To launch the joy controller on your pc (using a PS4 gamepad), type: + +```bash +roslaunch interbotix_xsarm_joy xsarm_joy.launch robot_model:=wx250s launch_driver:=false controller:=ps4 +``` + +If you are using a different controller, change the `controller` parameter to +`ps3` or `xbox360`. `xbox360` setting will also work with the Xbox One +controller. + +:::info + +You can find the button mappings on the +[joystick_control docs page](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros1_packages/joystick_control.html). + +::: + ### Planning the trajectory with MoveIt MoveIt motion planning framework will allow us to plan and execute a -collision-free trajectory to the destination pose of the end-effector. To use -it, first make sure you have the `use_moveit` parameter for the arm driver set -to `true`: +collision-free trajectory to the destination pose of the end-effector. In order +to use it the arm driver node must be using `ros_control`, therefore the driver +launch file definition must be changed accordingly. To do this open robot launch +file on the rover: + +```bash +nano /etc/ros/robot.launch +``` + +and change the lines added during installation (between the `` tags): + +```xml + + + + + +``` + +to: + +```xml + + + + + + + +``` + +If you are using a 5 DOF version of the arm, change the `dof` parameter to `5`. +This will make the driver launch alongside with MoveIt and `ros_control` on +startup. To launch the driver either restart the rover or type: + +```bash +sudo systemctl restart leo +``` + +:::tip + +If you want to try launching MoveIt driver from cli on the rover, you can use +the command below: -```xml title="/etc/ros/robot.launch" - +```bash +roslaunch interbotix_xsarm_moveit xsarm_moveit.launch robot_model:=wx250s use_world_frame:=false use_moveit_rviz:=false dof:=6 use_actual:=true ``` -On your computer, type: +Just remember to remove (or comment) the arm driver include from autostart (in +`/etc/ros/robot.launch`) and restart `leo` service +(`sudo systemctl restart leo`), as without doing so two instances of the driver +will be launched which may lead to issues. + +::: + +To command MoveIt, you can launch rviz from your computer (not the rover): ```bash -roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250 rviz_frame:=wx250/base_link +ROS_NAMESPACE=wx250s roslaunch interbotix_xsarm_moveit moveit_rviz.launch config:=true rviz_frame:=wx250s/base_link ``` The MoveIt GUI should appear: @@ -490,96 +563,7 @@ please look at the [interbotix_moveit_interface](https://github.com/Interbotix/interbotix_ros_toolboxes/tree/main/interbotix_common_toolbox/interbotix_moveit_interface) example. -### Using joystick to control the arm - -The `interbotix_joy_control` example package provides the capability to control -the movement of the arm (utilizing inverse kinematics) with a PS3, PS4 or an -Xbox 360 joystick. - -To use the package with the arm connected to your rover: - -- Change the parameters for the driver node. The joy control node uses the `pwm` - mode for the gripper and is more suited to work with the Time-Based-Profile. - Here are the settings that work well: - -```xml title="/etc/ros/robot.launch" - - - - - -``` - -- Connect the joystick to your computer. . -- Start the joy_control.launch file: - -```bash -roslaunch interbotix_joy_control joy_control.launch robot_name:=wx250 controller:=ps3 arm_run:=false -``` - -- Change controller to either `ps3`, `ps4` or `xbox360` depending on the - joystick you have connected. - -:::info - -You can find the instructions on the package's -[README file](https://github.com/Interbotix/interbotix_ros_arms/blob/master/interbotix_examples/interbotix_joy_control/README.md) -page. - -::: - -### Using the Python API - -Aside from the driver, the `interbotix_sdk` package also provides a Python API -for manipulating the arm. It is designed to mainly work with the `position` mode -for the arm, `pwm` mode for the gripper and the Time-Based-Profile. For a start, -you can set the same parameters for the driver as in the previous example. - -There are some example scripts that demonstrate the use of the API at the -`interbotix_examples/python_demos` directory. - -```bash -cd ~/ros_ws/src/interbotix_ros_arms/interbotix_examples/python_demos -``` - -The `bartender.py` demo performs some pick, pour and place operations. To run -it, first open the file in a text editor and search for this line: - -```python -arm = InterbotixRobot(robot_name="wx250s", mrd=mrd) -``` - -Change wx250s to wx250 and then type on the terminal: - -```bash -python bartender.py -``` - -:::warning - -Make sure that you are not running any other script that takes control of the -arm simultaneously (e.g. the joy control node). - -::: - -If everything went right, you should see the arm in action. - -You can check the other files in the directory for more examples. To view the -available functions in the API and their documentation, take a look at the -[robot_manipulation.py](https://github.com/Interbotix/interbotix_ros_arms/blob/master/interbotix_sdk/src/interbotix_sdk/robot_manipulation.py) -file. - -
- -
- ## What next? If you found this tutorial interesting, make sure to check out other tutorials -we provide on our [Integrations](/category/integrations) site. +we provide on our [Integrations](/leo-rover/integrations) site. diff --git a/docs/leo-rover/integrations/software/_category_.json b/docs/leo-rover/integrations/software/_category_.json index 33a14d4c..f1b8fb67 100644 --- a/docs/leo-rover/integrations/software/_category_.json +++ b/docs/leo-rover/integrations/software/_category_.json @@ -4,7 +4,8 @@ "collapsible": true, "collapsed": true, "link": { + "type": "generated-index", "title": "Software integrations", - "type": "generated-index" + "slug": "leo-rover/integrations/software" } } diff --git a/docs/leo-rover/integrations/software/artag-tracking-with-alvar.mdx b/docs/leo-rover/integrations/software/artag-tracking-with-alvar.mdx index 614a3656..337740e7 100644 --- a/docs/leo-rover/integrations/software/artag-tracking-with-alvar.mdx +++ b/docs/leo-rover/integrations/software/artag-tracking-with-alvar.mdx @@ -10,7 +10,7 @@ keywords: - integration - example - software -description: > +description: >- Learn how to use the ar_track_alvar ROS package to detect AR tags with your Leo Rover and visualize them in RViz. image: /img/robots/leo/integrations/artag-tracking-alvar/leo-artag-erc.webp @@ -243,4 +243,4 @@ you can check out other examples from leo_examples repository (like [line follower](/leo-rover/leo-examples/line-follower) and [object detection](/leo-rover/leo-examples/object-detection)). You can also check out other integrations from our -[Integrations site](/category/integrations). +[Integrations site](/leo-rover/integrations). diff --git a/docs/leo-rover/integrations/software/freedom-robotics.mdx b/docs/leo-rover/integrations/software/freedom-robotics.mdx index bdfb3482..40de2572 100644 --- a/docs/leo-rover/integrations/software/freedom-robotics.mdx +++ b/docs/leo-rover/integrations/software/freedom-robotics.mdx @@ -11,7 +11,7 @@ keywords: - integration - example - software -description: > +description: >- Leverage Freedom Robotics' low latency teleoperation, mission triggering, and customizable controls to pilot your Leo Rover. image: /img/robots/leo/integrations/freedom-robotics/freedom-piloting-leo.webp diff --git a/docs/leo-rover/integrations/software/gazebo-simulation.mdx b/docs/leo-rover/integrations/software/gazebo-simulation.mdx index cfbd8879..31f65dc7 100644 --- a/docs/leo-rover/integrations/software/gazebo-simulation.mdx +++ b/docs/leo-rover/integrations/software/gazebo-simulation.mdx @@ -9,7 +9,7 @@ keywords: - leo - integration - example -description: > +description: >- Step-by-step guide to set up and run the simulation environment in Gazebo with ROS. image: /img/robots/leo/integrations/gazebo-zed2/leo-rover-gazebo.webp diff --git a/docs/leo-rover/integrations/software/scratch.mdx b/docs/leo-rover/integrations/software/scratch.mdx index ec27143e..ea2fec1e 100644 --- a/docs/leo-rover/integrations/software/scratch.mdx +++ b/docs/leo-rover/integrations/software/scratch.mdx @@ -10,7 +10,7 @@ keywords: - integration - software - example -description: > +description: >- Learn how to program Leo Rover using Scratch 3.0, a block-based visual programming language for education. image: /img/robots/leo/integrations/scratch/scratch-1.webp diff --git a/docs/leo-rover/integrations/software/steam-deck.mdx b/docs/leo-rover/integrations/software/steam-deck.mdx index ea4bfb84..1ad2681c 100644 --- a/docs/leo-rover/integrations/software/steam-deck.mdx +++ b/docs/leo-rover/integrations/software/steam-deck.mdx @@ -10,7 +10,7 @@ keywords: - leo - integration - example -description: > +description: >- Unleash the potential of your Leo Rover with the Steam Deck. Learn how to install Ubuntu, ROS, and additional packages to create a versatile control setup for your rover. diff --git a/docs/leo-rover/leo-examples/_category_.json b/docs/leo-rover/leo-examples/_category_.json index 671aa175..c5030bb4 100644 --- a/docs/leo-rover/leo-examples/_category_.json +++ b/docs/leo-rover/leo-examples/_category_.json @@ -5,6 +5,8 @@ "collapsed": true, "link": { "type": "generated-index", - "description": "Learn about software examples that you can run on the stock Leo Rover." + "title": "Leo Examples", + "description": "Learn about software examples that you can run on the stock Leo Rover.", + "slug": "leo-rover/leo-examples" } } diff --git a/docs/leo-rover/leo-examples/follow-artag.mdx b/docs/leo-rover/leo-examples/follow-artag.mdx index f10c7282..bae15411 100644 --- a/docs/leo-rover/leo-examples/follow-artag.mdx +++ b/docs/leo-rover/leo-examples/follow-artag.mdx @@ -12,7 +12,7 @@ keywords: - leo - rover - tutorial -description: > +description: >- Learn how to make a Leo Rover mobile robot follow a printed ARTag. Print the tag and run the example code to get started. --- diff --git a/docs/leo-rover/leo-examples/line-follower.mdx b/docs/leo-rover/leo-examples/line-follower.mdx index 279062a5..f9c666fe 100644 --- a/docs/leo-rover/leo-examples/line-follower.mdx +++ b/docs/leo-rover/leo-examples/line-follower.mdx @@ -12,7 +12,7 @@ keywords: - leo - rover - tutorial -description: > +description: >- Discover a step-by-step guide on setting up a line follower example for the stock Leo Rover, including creating a track and installing TensorFlow Lite. @@ -218,7 +218,7 @@ with master being on the rover: cd source devel/setup.bash export ROS_IP= -export ROS_MASTER_URI=http://master.localnet:11311 +export ROS_MASTER_URI=http://master.lan:11311 ``` Now, with the `color_mask` node running on the rover, run rqt on your computer diff --git a/docs/leo-rover/leo-examples/object-detection.mdx b/docs/leo-rover/leo-examples/object-detection.mdx index 399adf00..c8274140 100644 --- a/docs/leo-rover/leo-examples/object-detection.mdx +++ b/docs/leo-rover/leo-examples/object-detection.mdx @@ -12,7 +12,7 @@ keywords: - leo - rover - tutorial -description: > +description: >- Detect objects in real-time on the Leo Rover using pre-trained models, with TensorFlow Lite library. Step-by-step tutorial for stock Leo Rover. @@ -206,7 +206,7 @@ source the workspace, and export some `ROS` environment variables: cd source devel/setup.bash export ROS_IP= -export ROS_MASTER_URI=http://master.localnet:11311 +export ROS_MASTER_URI=http://master.lan:11311 ``` :::info diff --git a/docs/leo-rover/manuals/_category_.json b/docs/leo-rover/manuals/_category_.json index cb7abda7..aa579042 100644 --- a/docs/leo-rover/manuals/_category_.json +++ b/docs/leo-rover/manuals/_category_.json @@ -1,9 +1,11 @@ { - "label": "Assembly manuals", - "position": 3, - "collapsible": true, - "collapsed": true, - "link": { - "type": "generated-index" - } -} \ No newline at end of file + "label": "Assembly manuals", + "position": 3, + "collapsible": true, + "collapsed": true, + "link": { + "type": "generated-index", + "title": "Assembly manuals", + "slug": "/leo-rover/manuals" + } +} diff --git a/docs/leo-rover/manuals/back-front-covers.mdx b/docs/leo-rover/manuals/back-front-covers.mdx new file mode 100644 index 00000000..bbc38a7e --- /dev/null +++ b/docs/leo-rover/manuals/back-front-covers.mdx @@ -0,0 +1,760 @@ +--- +title: 'Task 4: Back and front covers' +sidebar_label: 'Task 4: Back and front covers' +sidebar_position: 4 +description: > + Detailed instructions for assembling Leo Rover's battery quarter, addon + quarter and front cover, including necessary tools and estimated time +--- + +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; + + + **Assembly time ≈ 20 minutes** + + + + + + +--- + +## Front Cover: + +### Step 1 + + + + + + + + + + + + + + + + + + + + + + + + +:::note + +Do not tighten the **screws** . +Leave them loosely attached to allow for assembly in further steps. + +::: + + + +--- + +## Battery Quarter: + +### Step 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + +--- + +### Step 2 + + + + + + + + + + + + + + + + + + + + + +### Step 3 + + + + + + + + + + + + + + + + +### Step 4 + + + + + + + + + + + + + + + + + + + + + + + + + + +### Step 5 + + + + + + + + + + + + + + + + + + + + +--- + +## Addon Quarter: + +### Step 1 + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/leo-rover/manuals/boot-and-firmware.mdx b/docs/leo-rover/manuals/boot-and-firmware.mdx index 3f2d509a..0bfb0e36 100644 --- a/docs/leo-rover/manuals/boot-and-firmware.mdx +++ b/docs/leo-rover/manuals/boot-and-firmware.mdx @@ -1,16 +1,13 @@ --- -title: 'Task 10: Boot and firmware' -sidebar_label: 'Task 10: Boot and firmware' -sidebar_position: 11 +title: 'Task 6: Boot and firmware' +sidebar_label: 'Task 6: First boot' +sidebar_position: 6 description: First boot of an assembled Leo Rover - firmware flash. --- -## Step 1: Turn on and connect to Leo Rover - -Prepare: +--- -- Step 9 assembly -- external computer +## Step 1 -To connect to Leo Rover, see: +--- - +## Step 2 -:::note + + Connect to Leo Rover by following this tutorial: + -This time you won't see the battery LED flashing. It will work only after -successfully performed Step 2. + -::: +--- -## Step 2: Flash the firmware +## Step 3 -Refer to: + + Flash the new firmware by referring to: + -## Step 3: Access the Leo Rover UI +--- -Open any web browser and type: +## Step 4 -``` -10.0.0.1 -``` +:::success + +The rover should be fully functional now. To test it, access the Leo Rover UI +and drive a little. + +::: -#### You're good to go! +While connected to rovers access point, open any web browser and type: + +``` +10.0.0.1 +``` + +UI gives you to access to basic functionalities like: + +- [x] watching rover's camera stream +- [x] teleoperation +- [x] checking battery voltage + +--- + + + That's it! Your rover should be fully functional now. + diff --git a/docs/leo-rover/manuals/combining-subassemblies.mdx b/docs/leo-rover/manuals/combining-subassemblies.mdx new file mode 100644 index 00000000..6db8a1d2 --- /dev/null +++ b/docs/leo-rover/manuals/combining-subassemblies.mdx @@ -0,0 +1,665 @@ +--- +title: 'Task 5: Combining subassemblies' +sidebar_label: 'Task 5: Combining subassemblies' +sidebar_position: 5 +description: > + Detailed instructions for finalizing the assembly of a Leo Rover. +--- + +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; + + + **Assembly time ≈ 30 minutes** + + + + +--- + +## Step 1 + + + + + + + + + + + + + + +:::note + +Slide the front cover over the differential bar and tighten the **screws**. + +::: + + + +--- + +## Step 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + +--- + +## Step 3 + + + + + + + + + + + + + + +:::note + +Use **zip-ties** to secure the +cable. + +::: + + + + + + + +:::note + +Run the cables through the sides of the electronics box.\ +Push cable **seals and grommets** +into their designated spots.\ +Plug wheel connectors into the LeoCore controller board.\ +Make sure that front wheel plugs are connected to the sockets closer to rover's +front. + +::: + +--- + +## Step 4 + + + + + + + + + + + + + + +:::note + +Separate the individual clips and remove +**excess material**. + +::: + + + +--- + +## Step 5 + + + + + + + + + + + + + + + + + + + + + + + +--- + +## Step 6 + + + + + + + + + + + + + + + + +--- + +## Step 7 + + + + + + + + + + + + + + + + + + + + + +--- + + + Mechanically that's it. Good job! + diff --git a/docs/leo-rover/manuals/frame-and-suspension.mdx b/docs/leo-rover/manuals/frame-and-suspension.mdx index d6c2762d..3efdf15f 100644 --- a/docs/leo-rover/manuals/frame-and-suspension.mdx +++ b/docs/leo-rover/manuals/frame-and-suspension.mdx @@ -1,643 +1,1057 @@ --- title: 'Task 3: Frame and suspension' sidebar_label: 'Task 3: Frame and suspension' -sidebar_position: 4 +sidebar_position: 3 description: > Detailed instructions for assembling Leo Rover's Frame and suspension, including necessary tools and estimated time. --- -## Preparation +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; -### Assembly time + + **Assembly time ≈ 30 minutes** + -30 minutes - -### Tools needed - -- T10 torx screwdriver -- wide flat screwdriver (not-provided) -- 3mm hex-head key -- 5mm hex-head key -- 7mm hex-head wrench -- 10mm hex-head wrench - - - - - - - -## Step 1: Main axis bearing holder - -Prepare: - -- 8x m4x20 hex-headed screw (longest) -- 8x m4 nut -- 1x main frame (aluminum, painted grey) -- 2x main axis bearing holder with 2 bearings each (aluminum, machined) -- 3mm hex-head key -- 7mm hex-head wrench - - - - - - - - - - - - - - - - - - - -## Step 2: Differential bar holder - -Prepare: - -- step 1 assembly -- 1x differential bar holder (stainless steel) -- 3x m4x10 torx screw -- 3x m4 nut -- T10 screwdriver -- 7mm flat wrench - - - - - - - - - - - - - -## Step 3: Differential bar - -Prepare: - -- step 2 assembly -- 1x differential bar (aluminum, painted grey) -- 2x plastic plain bearings with flanges (black) -- 1x axis shoulder screw (black) -- 1x 8mm flat washer -- 1x m6 nut -- wide flat screwdriver (not provided) -- 10mm hex wrench - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -## Step 4: Main axis assembly - -Prepare: - -- 2x differential arm (steel, painted black) -- 2x ball bearing push-rod (plastic) -- 2x m6 screw -- 2x m6 nut -- 5mm hex-head key -- 10mm hex wrench - - - - - - - - - - - -## Step 5: Main axis assembly - -Prepare: - -- 1x step 3 assembly -- 2x step 4 assemblies -- 2x M6 screw -- 2x M6 nut -- 2x main axis screw (shoulder screw) -- 2x M8 washer -- 5mm hex-head key -- 10mm hex wrench - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -## Step 6: Wheel holders - -Prepare: - -- 2x type A wheel holder (steel, painted black) -- 2x type B wheel holder (steel, painted black) -- 16x M5x8 hex-head screws (with integrated washers) -- 16x t-nut -- 3mm hex-head key - - - - - - - - - - - - - - - - - - + + - +--- - + + + + + + + + + + + + + + + + + + + + + + - +--- - + + + + + + + + + + + + + + + + + + + + + + - +--- - + + + + + + + + + + + + + + + + + + + + + + + + + +:::note + +Make sure that the **screw** is +tight, but **differential bar** can +move without excess play and resistance. + +::: + + - +--- - + + + + + + + + + + + + + + + + + + + - +--- - + + + + + + + + + + + + + + + + + + + + + + + + + +:::note + +There is a barely visible **scratch** +made on one of the sides of the suspension beam.\ +Make sure that **wheel mounts** +face away from the scratch and are aligned to the ends of the beam. + +::: + + +--- - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -## Step 7: Back frame - -Prepare: - -- step 6 assembly -- 1x back frame -- 4x M4x8 torx screws -- T10 torx screwdriver +--- - + + + + + + + + + + + + + + + + + + + + + + + + + + + + +:::note + +Do not overtighten the **screws**. \ +Make sure that **washers** and **nuts** are concentric with the +bearings. \ +Make sure that **rocker mounts** +can move without excess play and resistance. + +::: + + + + - +--- - + + + + + + + + + + + + + + - +--- - + + + + + + + + + + + + +:::note + +Align suspension using **scratch** as +reference for rocker mounts placement. + +::: + + - -#### Done! Only 4 Tasks remaining and you'll be good to go. diff --git a/docs/leo-rover/manuals/main-electronics-box-meb.mdx b/docs/leo-rover/manuals/main-electronics-box-meb.mdx index cc60aebe..285d6133 100644 --- a/docs/leo-rover/manuals/main-electronics-box-meb.mdx +++ b/docs/leo-rover/manuals/main-electronics-box-meb.mdx @@ -1,7 +1,7 @@ --- title: 'Task 2: Main electronics box (MEB)' sidebar_label: 'Task 2: Main electronics box (MEB)' -sidebar_position: 3 +sidebar_position: 2 description: > Detailed instructions for assembling Leo Rover's Main electronics box, including necessary tools and estimated time. @@ -10,807 +10,1086 @@ description: > import Tabs from '@theme/Tabs'; import TabItem from '@theme/TabItem'; -## Preparation +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; -### Assembly time + + **Assembly time ≈ 60 minutes** + -60 minutes - -### Tools needed - -- cross-head screwdriver -- T5x40 torx screwdriver -- 3mm hex-head key -- vaseline -- 8mm flat hex-head wrench - - - - - - - - - - - - - - -## Step 1: Camera shield - -Prepare: - -- 1x main electronics box (3D-printed) -- 1x camera shield -- 1x camera shield gasket -- 4x self-tapping torx screw (smallest in the kit) -- T5x40 torx screwdriver - - - - - - - + + + + + + + + + + + + + + + +--- - +## Step 0 -## Step 2: miniUSB and power cable - -Prepare: - -- step 2 assembly -- 1x power cable (3pin socket with barrel plug and green cable soldered) -- 1x miniUSB socket with USB-A connector -- 1x (optional) miniUSB socket cap (blue) - - + + Burn LeoOs image to the microSD card using this tutorial: + + - +--- - + + + + + + + + + + + + + + + + + + + + + - - - +--- - + + + + + + + + + + + + + + + + -## Step 3: Antenna cable +:::note -Prepare: - -- step 2 assembly -- 1x antenna cable, a nut and toothed washer -- 1x small o-ring -- vaseline (optional) -- 8mm flat wrench - -:::warning - -Don't use the spring washer that may be provided with the antenna cable. Use -only the toothed washer. +Do not overtighten the **screw**. ::: - - +--- - + + + + + + + + + + + - - +--- - + + + + + + + + + + + - +--- -## Step 4: Camera - -Prepare: - -- step 3 assembly -- 1x fisheye camera (white box) -- 1x plastic camera mount (3D-printed) -- 4x 2.2x6.5 self-tapping screws (cross-headed) -- cross-head screwdriver - - + + + + + + + + + + + + + + + + - +:::note - +Cover the **seal** with vaseline +before assembly. - +::: - - +--- - + + + + + + + + + + + + + + + + - - +:::note - +Connect **antenna** and **USB cable** . - +::: - +--- - + + + + + + + + + + + + + + + + + + + + -## Step 5: RaspberryPi and WiFi modem assembly - -Prepare: +:::note -- step 4 assembly -- 1x RaspberryPi board -- 4x m2.5x18 plastic distances -- 4x m4x6 metal distances -- 1x ALFA USB WiFi modem -- 1x 90deg antenna adapter (from previous steps) +Do not overtighten the **screw**.\ +Make sure the **ribbon** is pushed +all the way into the connector. - - - - - - - - +::: - - - +:::warning - +Connect the other end of the **ribbon** to the **CAMERA** port of +Raspberry Pi. - +::: - +--- - + + + + + + + + + + + + + + + + - - +:::note - +Connect **power** and **LED** cables. - +::: - +--- - + + + + + + + + + + + + + + + + - - +--- - + + + + + + + + + + + - -## Step 6: Controller assembly and cabling - -Prepare: +:::note -- step 5 assembly -- 1x controller electronics board (LeoCore/Husarion Core2-ROS) -- 4x m2.5x18 plastic distance +Make sure that the full length of the +**seal** sits in the groove.\ +Cut excess material, leave **≈1cm** of overlap - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -## Step 7: Electronics cover - -Prepare: - -- step 6 assembly -- 1x electronics cover (3D-printed) -- 2x small zip-ties -- 4x m2.5 plastic screws -- cross-head Philips screwdriver - - - - - - - - +::: - +--- - - - + + - + + - - - - - -## Step 8: MEB distances - -Prepare: - -- step 7 assembly -- 4x m4x6 metal distances -- Loctite glue -- 7mm hex wrench - - + + + + + + + + - - - - -## Step 9: Seal and MEB cover +:::note -Prepare: - -- step 8 assembly -- 1x rubber foam sealing cord -- 4x m4x10 screws -- 1x MEB cover (3D-printed) - - - - - - - - - - - +Put a drop of loctite onto the threads of the **distances** before tightening. - - - - - - - - - - - - - - +::: - - -#### Done! - - - - - - - - - diff --git a/docs/leo-rover/manuals/setup.mdx b/docs/leo-rover/manuals/setup.mdx new file mode 100644 index 00000000..881af126 --- /dev/null +++ b/docs/leo-rover/manuals/setup.mdx @@ -0,0 +1,229 @@ +--- +title: 'Task 0: Initial information' +sidebar_label: 'Task 0: Initial information' +sidebar_position: 0 +description: > + A quick guide on starting the assembly. +--- + +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; + +:::info + +These are the assembly instructions for the new Dev Kit of Leo Rover, which +comes in a single box with foam inserts. If you still have the previous Dev Kit +(which came in separate boxes), please refer to the old manuals. + + + +::: + +## Tools provided + + + + + + + + + + + + + + + + + + + + + + +--- + +## Keep in mind: + +### T-nuts + + + +When attaching **T-nuts** at any +point during the assembly, ensure both sides are seated on the flanges of the +groove. + +### Notes + + + +:::note + +An exclamation mark indicates an +important note related to the image. \ +Some concepts are difficult to convey with images alone, so additional +information is provided in boxes like this one, located below the images. + +::: + +### Seals + +Ensure all seals are **properly +aligned**. + + + + + + + + + + **NOT
OK** + + + + + + + + + **OK** + + + +### Wires + +No tools are provided for tightening the plastic nuts used to secure the wires +to the sides of electronics box or battery.\ +These nuts should be hand-tightened only, as excessive force can damage the +seals. + +:::warning + +Be careful not to crush the wires during assembly. + +::: diff --git a/docs/leo-rover/manuals/whats-next.mdx b/docs/leo-rover/manuals/whats-next.mdx index 708fb47d..9e23f3a9 100644 --- a/docs/leo-rover/manuals/whats-next.mdx +++ b/docs/leo-rover/manuals/whats-next.mdx @@ -2,7 +2,7 @@ title: "What's next?" sidebar_label: "What's next?" sidebar_position: 12 -description: > +description: >- Find out what's next after assembling Leo Rover. Access technical support and try software examples to learn about the robot's capabilities. --- diff --git a/docs/leo-rover/manuals/wheel-assembly.mdx b/docs/leo-rover/manuals/wheel-assembly.mdx index ca7ec3c2..097bc146 100644 --- a/docs/leo-rover/manuals/wheel-assembly.mdx +++ b/docs/leo-rover/manuals/wheel-assembly.mdx @@ -1,393 +1,628 @@ --- -title: 'Task 1: Wheel assembly' -sidebar_label: 'Task 1: Wheel assembly' -sidebar_position: 2 +title: 'Task 1: Wheel' +sidebar_label: 'Task 1: Wheel' +sidebar_position: 1 description: > - Detailed instructions for assembling Leo Rover's wheels, including necessary + Detailed instructions for assembling Leo Rover's wheel, including necessary tools and estimated time. --- -## Preparation +import useBaseUrl from '@docusaurus/useBaseUrl'; +import ThemedImageZoom from '@site/src/components/ThemedImageZoom'; +import FlexTable from '@site/src/components/FlexTable'; +import FlexTableItem from '@site/src/components/FlexTableItem'; -### Assembly time + + **Assembly time ≈ 20 min per wheel** + -20 min per wheel / 80 min total - -### Tools needed - -- cross-head screwdriver -- 2.5mm hex key (metric) -- 3mm hex key (metric) -- lithium grease -- Loctite glue (anaerobic, low-strength) - - - - - -## Step 1: Motor assembly - -Prepare: - -- 1x DC motor with wheel cap and cable -- 1x wheel tube with bearings -- 4x 2.5x9.5 self tapping cross-head screws -- cross-head Phillips screwdriver - - - - - - - - - - - - - - - -## Step 2: Wheel mounts - -Prepare: - -- step 1 assembly -- 1x lower wheel mounting -- 1x upper wheel mounting -- 4x m4x12 hex screw -- 3mm hex-head key - - - - - - - - - -## Step 3: Shaft seal - -Prepare: - -- step 2 assembly -- 1x rubber radial shaft seal -- lithium grease - - - - - - - - + + + + + + + + + + + + + + - - - - -## Step 4: Shaft adapter - -Prepare: - -- 1x shaft adapter(stainless steel) -- 1x m4x10 torque screw -- 2mm hex key -- Loctite glue - - - - - - - - - - - - - -## Step 5: Wheel rim - -Prepare: - -- step 4 assembly -- 1x wheel rim (3D-printed) -- 1x torque plate (3D-printed) -- 5x m4x8 round head screw -- 2mm hex-head key - - - - - - - - - - - - +--- - + + + + + + + + + + + + + + + + + + + + + + +:::note + +Slide the **motor mount** forward +until it touches the base of the bearing before tightening. + +::: + + +--- - + + + + + + + + + + + + + +:::note + +Do not tighten. Leave a **3mm** gap between the **screw** and motor mount. + +::: + + -## Step 6: Tire +--- -Prepare: +## Step 3 + + + + + + + + + + + + + + + + + + + + +:::note + +Press a decent amount of lithium grease between the shaft **seal** and the motor housing. + +::: -- step 5 assembly -- 1 x tire +--- - + + + + + + + + + + + + + + + + + + + + + + +:::note + +Align the hole in **shaft adapter** +with the flat part of motor shaft.\ +Put a drop of loctite onto the **set +screw** before tightening. + +::: + + - +--- - + + + + + + + + + + + + + +:::warning + +Make sure that the full length of tire's brim sits in the groove + +::: + + - +--- - + + + + + + + + + + + + + + + + + + + + + + + +--- -#### Good job! Now 3 more to go. - - + + That's it! Repeat the steps until you have 4 wheels. + diff --git a/docs/leo-rover/overview.mdx b/docs/leo-rover/overview.mdx index bf041a61..2168ae7b 100644 --- a/docs/leo-rover/overview.mdx +++ b/docs/leo-rover/overview.mdx @@ -1,6 +1,6 @@ --- -title: Leo Rover -sidebar_label: Leo Rover overview +title: Leo Rover overview +sidebar_label: Overview sidebar_position: 1 keywords: - leo @@ -9,7 +9,7 @@ keywords: - features - outdoor - research -description: > +description: >- Leo Rover is a small, remote-controlled, 4-wheeled robot that eases the development of robotic projects both outdoors and indoors. Perfect for learning and research. diff --git a/docs/rapha-rover/getting-started.mdx b/docs/rapha-rover/getting-started.mdx index 6ee80420..17502fee 100644 --- a/docs/rapha-rover/getting-started.mdx +++ b/docs/rapha-rover/getting-started.mdx @@ -6,7 +6,7 @@ keywords: - rover - getting started sidebar_position: 1 -description: > +description: >- Get started with Rapha Rover: setup guide on contents, powering on, charging, internet connection, and SSH access for a seamless start with your new rover. image: /img/robots/rapha/rapha-rover.webp @@ -139,29 +139,37 @@ Configuration settings will be updated for production-ready rovers. ::: To connect to Rapha Rover's computer via SSH, you must first establish a -connection with the on-board Wi-Fi network. The default credentials are as -follows: +connection with the on-board Wi-Fi network. The default credentials for the +access points are as follows: -- **SSID:** `RaphaRoverX` / `X` is the number of the rover -- **Password:** `password` +- **SSID 2.4 GHz:** `Rapha-XXXX-2G` +- **SSID 5 GHz:** `Rapha-XXXX-5G` +- **Password:** `fictionlab` + +:::note + +`XXXX` is the rover's serial number + +::: Once connected to the network, you can access the on-board devices using the following IP addresses and default credentials: -- **Router (RUTX10) :** `10.0.0.1` -- **On-board computer (UpBoard 7000):** `10.0.0.2` -- **Controller (RaphaCore):** `10.0.0.3` +- **Router (RUTX10) :** `10.10.0.1` +- **Controller (RaphaCore):** `10.10.0.2` +- **On-board computer (UpBoard 7000):** `10.10.0.3` To connect to the UpBoard via SSH, use your preferred SSH client and the -provided credentials above. +following credentials: -- **user:** `Rapha` -- **password:** `Rapha` +- **user:** `rapha` +- **password:** `rapha` -To connect with router, go to `10.0.0.1` and login using credentials below: +To connect with the router, go to http://10.10.0.1 and login using credentials +below: - **user:** `admin` -- **password:** `RaphaRover2024` +- **password:** `Fictionlab1` ## Battery charging diff --git a/docs/rapha-rover/specification/ros-api.mdx b/docs/rapha-rover/specification/ros-api.mdx new file mode 100644 index 00000000..62e08132 --- /dev/null +++ b/docs/rapha-rover/specification/ros-api.mdx @@ -0,0 +1,548 @@ +--- +title: Rapha Rover ROS API +sidebar_label: ROS API +keywords: + - rapha + - rover + - ros + - api +description: >- + Description of the ROS API for Rapha Rover. Includes published topics, + subscriptions, advertised services and custom message types. +--- + +# ROS API + +:::warning + +The ROS API in the beta version is subject to changes. + +::: + +## Subscribed topics + +- `controller/cmd_ackermann` ([ackermann_msgs/msg/AckermannDrive]) + + Steers the robot when operating in the Ackermann steering mode. + +- `controller/cmd_turn_in_place` (?) **Not implemented yet** + + Steers the robot when operating in the Turn-In-Place steering mode. + +- `controller/cmd_vel` ([geometry_msgs/msg/Twist]) **Not implemented yet** + + Steers the robot using `Twist` commands. More standardized way to control the + robot. \ + Useful for some navigation stacks. Not recommended for manual teleoperation. + +- `controller/led_strip_state` ([rapha_interfaces/msg/LedStripState]) + + Sets a new user state for all the LEDs in the LED strip. + +- `controller/led_panel_state` ([rapha_interfaces/msg/LedPanelState]) **Not + implemented yet** + + Sets a new user state for all the LEDs in the specified LED panel. + +## Published Topics + +- `controller/imu` ([sensor_msgs/msg/Imu]) + + Current gyroscope and accelerometer readings from the onboard IMU. + +- `controller/odom` ([nav_msgs/msg/Odometry]) + + Odometry calculated from wheel encoders and the onboard IMU. + +- `controller/steering_mode` ([rapha_interfaces/msg/SteeringMode]) **Not + implemented yet** + + Current steering mode. Published whenever the mode changes. \ + Uses transient local durability to deliver last message to joining + subscriptions. + +- `controller/diagnostics/imu` ([rapha_interfaces/msg/ImuDiagnostics]) + + Diagnostic information about the IMU module. \ + Includes module temperature and calibration data. + +- `controller/diagnostics/motors` ([rapha_interfaces/msg/MotorDiagnostics]) + + Diagnostic information about the motors. \ + Includes motor temperatures, power consumption and fault data. + +- `controller/power_system_state` ([rapha_interfaces/msg/PowerSystemState]) + + Current information about the power system. + +- `oak/imu/data` ([sensor_msgs/msg/Imu]) + + Current gyroscope and accelerometer readings from the Oak-D IMU. + +- `oak/left/camera_info` ([sensor_msgs/msg/CameraInfo]) + + Calibration data for the left Oak-D camera. + +- `oak/left/image_raw` ([sensor_msgs/msg/Image]) + + Raw images from the left Oak-D camera. + +- `oak/rgb/camera_info` ([sensor_msgs/msg/CameraInfo]) + + Calibration data for the center (RGB) Oak-D camera. + +- `oak/rgb/image_raw` ([sensor_msgs/msg/Image]) + + Raw images from the center (RGB) Oak-D camera. + +- `oak/right/camera_info` ([sensor_msgs/msg/CameraInfo]) + + Calibration data for the right Oak-D camera. + +- `oak/right/image_raw` ([sensor_msgs/msg/Image]) + + Raw images from the right Oak-D camera. + +- `oak/stereo/camera_info` ([sensor_msgs/msg/CameraInfo]) + + Calibration data corresponding to the depth images calculated from the stereo + pair (left and right Oak-D cameras). + +- `oak/stereo/image_raw` ([sensor_msgs/msg/Image]) + + Depth images calculated from the stereo pair (left and right Oak-D cameras). + +- `oak/points` ([sensor_msgs/msg/PointCloud2]) + + Point cloud data converted from the depth images. + +- `rplidar/scan` ([sensor_msgs/msg/LaserScan]) + + Raw laser scans from the onboard 2D LIDAR. + +- `rplidar/scan_filtered` ([sensor_msgs/msg/LaserScan]) **Not implemented yet** + + Laser scans from the onboard 2D LIDAR with points lying on the robot's + footprint filtered out. + +- `joint_states` ([sensor_msgs/msg/JointState]) + + Current state of the robot joints. + +- `robot_description` ([std_msgs/msg/String]) + + The URDF description of the robot. + +- `/diagnostics` ([diagnostic_msgs/msg/DiagnosticArray]) + + Diagnostic information from various ROS nodes. + +- `/parameter_events` ([rcl_interfaces/msg/ParameterEvent]) + + Parameter events (additions, changes or deletions) from all the running ROS + nodes. + +- `/rosout` ([rcl_interfaces/msg/Log]) + + Logs from all the running ROS nodes. + +- `/tf`, `/tf_static` ([tf2_msgs/msg/TFMessage]) + + Relationships between TF frames in the ROS network. \ + These topics are used by the + [tf2 library](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Tf2.html). + +## Services + +- `controller/clear_leds` ([std_srvs/srv/Trigger]) + + Resets user states for all LEDs in the LED strip. + +- `controller/set_leds` ([rapha_interfaces/srv/SetLeds]) + + Set user state for specified LEDs. + +- `controller/calibrate_servos` ([std_srvs/srv/Trigger]) + + Trigger servo calibration procedure. + +- `controller/reset_odom` ([std_srvs/srv/Trigger]) + + Reset odometry position. + +- `controller/reset_motor_diagnostics` ([std_srvs/srv/Trigger]) + + Reset motor faults and calculated consumed energy. + +- `controller/set_battery_modes` ([rapha_interfaces/srv/SetBatteryModes]) + + Set target battery modes. + +- `controller/set_steering_mode` ([rapha_interfaces/srv/SetSteeringMode]) + + Set the current steering mode. + +- `system/shutdown` ([std_srvs/srv/Trigger]) + + Perform onboard computer's system shutdown. + +- `system/reboot` ([std_srvs/srv/Trigger]) + + Perform onboard computer's system reboot. + +## Parameters + +### controller + +- `drivetrain.wheel_base` (type: `float`, default: `0.378`) + + Distance between front and rear wheels. $[m]$ + +- `drivetrain.track_width` (type: `float`, default: `0.384`) + + Distance between left and right wheels. $[m]$ + +- `drivetrain.wheel_radius` (type: `float`, default: `0.08`) + + Radius of the wheel. $[m]$ + +- `drivetrain.max_wheel_angular_velocity` (type: `float`, default: `19.0`) + + Maximum allowable wheel angular velocity. $[\frac{rad}{s}]$ + +- `drivetrain.change_mode_acceleration` (type: `float`, default: `2.0`) + + Acceleration to use when changing steering mode. + $[\frac{m}{s^2}, \frac{rad}{s^2}]$ + +- `drivetrain.change_mode_steering_angle_velocity` (type: `float`, default: + `4.0`) + + Steering angle velocity to use when changing steering mode. $[\frac{rad}{s}]$ + +- `drivetrain.max_steering_angle` (type: `float`, default: `1.08`) + + Maximum steering angle used in ackermann mode. $[rad]$ + +- `drivetrain.input_timeout` (type: `float`, default: `0.5`) + + The duration from last received target, after which the controller will stop + the robot. Set to 0 to disable. $[s]$ + +- `drivetrain.wheel_disable_timeout` (type: `float`, default: `10.0`) + + The duration from last received target, after which the controller will + disable all motors. Set to 0 to disable. $[s]$ + +- `drivetrain.servo_left_position_offset` (type: `float`, default: `0.0`) + + Offset added to the left servo position. $[rad]$ + +- `drivetrain.servo_right_position_offset` (type: `float`, default: `0.0`) + + Offset added to the right servo position. $[rad]$ + +- `drivetrain.servo_calibration_power_threshold` (type: `float`, default: + `20.0`) + + The minimal motor power after which we assume the servo is pressing against + the bumper during calibration procedure. $[W]$ + +- `drivetrain.servo.acceleration_divider` (type: `int`, default: `10`) + + Raw acceleration divider value passed to servo motors. + +- `drivetrain.servo.position_loop_speed` (type: `float`, default: `5.0`) + + Position loop speed value passed to servos motors. $[\frac{rad}{s}]$ + +- `drivetrain.wheel.acceleration_divider` (type: `int`, default: `2`) + + Raw acceleration divider value passed to wheel motors. + +{/* TODO: Other nodes parameters */} + +## Custom message types + +{/* TODO: Remove this section after rapha_interfaces message definitions start being hosted in docs.ros2.org */} + +- `rapha_interfaces/msg/SteeringMode` + + + +```bash title="Represents the steering mode used by the drivetrain controller." +uint8 ACKERMANN=0 +uint8 TURN_IN_PLACE=1 + +uint8 data +``` + +- `rapha_interfaces/msg/BatteryMode` + + + +```bash title="Represents the target or actual battery power mode." +# Whether the battery is charging. +bool charging + +# Whether the battery is used as a power source. +bool draining +``` + +- `rapha_interfaces/msg/BatteryState` + + + +```bash title="Represents the state of a single battery." +# The current voltage in volts. +float64 voltage + +# Estimated state of charge in percents. +float64 state_of_charge + +# The target battery mode. +rapha_interfaces/BatteryMode target_mode + +# The actual battery mode. +rapha_interfaces/BatteryMode current_mode +``` + +- `rapha_interfaces/msg/PowerSystemState` + + + +```bash title="Represents the state of the Power System." +std_msgs/Header header + +# Whether the charger is connected. +bool charger_connected + +# Whether the batteries are connected. +bool bat1_connected +bool bat2_connected + +# The states of the batteries, not valid for unconnected batteries. +rapha_interfaces/BatteryState bat1_state +rapha_interfaces/BatteryState bat2_state + +# The current power output in watts. +float64 power + +# The energy consumed in watt-hours since the robot was powered on. +float64 energy +``` + +- `rapha_interfaces/msg/LedColor` + + + +```bash title="Represents the color of an LED." +# The intensity of each color (255 = 100%). +uint8 red +uint8 green +uint8 blue +uint8 white +``` + +- `rapha_interfaces/msg/LedPanel` + + + +```bash title="Enumeration of robot's LED panels." +uint8 FRONT=0 +uint8 BACK=1 +uint8 LEFT=2 +uint8 RIGHT=3 + +uint8 data +``` + +- `rapha_interfaces/msg/LedState` + + + +```bash title="Represents the state of a single LED." +# The duration (in ms) the state should be active. +# Setting it to 0 will make the state active indefinitely. +uint16 duration + +# The priority of the state. +# If the value is equal to 0 or is lower than the priority of the current user LED, the state is ignored. +# The value of -1 resets the user state of the LED. +int8 priority + +# The color of the LED +rapha_interfaces/LedColor color +``` + +- `rapha_interfaces/msg/LedPanelState` + + + +```bash title="Represents the state of the whole LED panel." +# Which LED panel does this state applies to. +rapha_interfaces/LedPanel panel + +# State of each LED on the panel. +# For panels with less than 36 LEDs, the last array items are ignored. +rapha_interfaces/LedState[36] state +``` + +- `rapha_interfaces/msg/LedStripState` + + + +```bash title="Represents the state of the whole LED strip." +uint8 LED_STRIP_SIZE=129 +rapha_interfaces/LedState[129] state +``` + +- `rapha_interfaces/msg/Led` + + + +```bash title="Represents the position and the state of the LED." +# The panel the LED is on. +rapha_interfaces/LedPanel panel + +# The id of the LED on the panel. +uint8 id + +# The state of the LED. +rapha_interfaces/LedState state +``` + +- `rapha_interfaces/msg/MotorDiagnostics` + + + +```bash title="Diagnostic information about motors controlled by RaphaCore." +# The order of the motors is: +# - rear left wheel +# - rear right wheel +# - right servo +# - left servo +# - front left wheel +# - front right wheel + +std_msgs/Header header + +# The current temperature in degrees Celsius. +uint8[6] temperature + +# The current power output in watts. +float64[6] power + +# The energy consumed in watt-hours since the robot was powered on. +float64[6] energy + +uint8 FAULT_BIT_SENSOR_FAULT=1 +uint8 FAULT_BIT_BUS_OVERCURRENT=2 +uint8 FAULT_BIT_PHASE_OVERCURRENT=4 +uint8 FAULT_BIT_STALL=8 +uint8 FAULT_BIT_OVERHEAT=16 + +# The current fault mask reported by the motor. +uint8[6] fault_mask_active + +# Mask of all fault that occurred since the robot was powered on. +uint8[6] fault_mask_occurred +``` + +- `rapha_interfaces/msg/ImuDiagnostics` + + + +```bash title="Diagnostic information about IMU sensor running on RaphaCore." +std_msgs/Header header + +# The current temperature of the sensor in degrees Celsius. +float64 temperature + +# The current gyroscope biases. +float64 gyro_bias_x +float64 gyro_bias_y +float64 gyro_bias_z +``` + +## Custom service types + +{/* TODO: Remove this section after rapha_interfaces message definitions start being hosted in docs.ros2.org */} + +- `rapha_interfaces/srv/SetSteeringMode` + + + +```bash +rapha_interfaces/SteeringMode steering_mode +--- +bool success +string status_message +``` + +- `rapha_interfaces/srv/SetBatteryModes` + + + +```bash +rapha_interfaces/BatteryMode bat1_mode +rapha_interfaces/BatteryMode bat2_mode +--- +bool success +string status_message +``` + +- `rapha_interfaces/srv/SetLeds` + + + +```bash +rapha_interfaces/Led[<=129] leds +--- +bool success +string status_message +``` + +[ackermann_msgs/msg/AckermannDrive]: + https://github.com/ros-drivers/ackermann_msgs/blob/ros2/msg/AckermannDrive.msg +[diagnostic_msgs/msg/DiagnosticArray]: + https://docs.ros2.org/latest/api/diagnostic_msgs/msg/DiagnosticArray.html +[geometry_msgs/msg/Twist]: + https://docs.ros2.org/latest/api/geometry_msgs/msg/Twist.html +[nav_msgs/msg/Odometry]: + https://docs.ros2.org/latest/api/nav_msgs/msg/Odometry.html +[rcl_interfaces/msg/Log]: + https://docs.ros2.org/latest/api/rcl_interfaces/msg/Log.html +[rcl_interfaces/msg/ParameterEvent]: + https://docs.ros2.org/latest/api/rcl_interfaces/msg/ParameterEvent.html +[sensor_msgs/msg/CameraInfo]: + https://docs.ros2.org/latest/api/sensor_msgs/msg/CameraInfo.html +[sensor_msgs/msg/Image]: + https://docs.ros2.org/latest/api/sensor_msgs/msg/Image.html +[sensor_msgs/msg/Imu]: https://docs.ros2.org/latest/api/sensor_msgs/msg/Imu.html +[sensor_msgs/msg/JointState]: + https://docs.ros2.org/latest/api/sensor_msgs/msg/JointState.html +[sensor_msgs/msg/LaserScan]: + https://docs.ros2.org/latest/api/sensor_msgs/msg/LaserScan.html +[sensor_msgs/msg/PointCloud2]: + https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html +[std_msgs/msg/String]: https://docs.ros2.org/latest/api/std_msgs/msg/String.html +[std_srvs/srv/Trigger]: + https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html +[tf2_msgs/msg/TFMessage]: + https://docs.ros2.org/latest/api/tf2_msgs/msg/TFMessage.html +[rapha_interfaces/msg/BatteryMode]: #msg-battery-mode +[rapha_interfaces/msg/BatteryState]: #msg-battery-state +[rapha_interfaces/msg/ImuDiagnostics]: #msg-imu-diagnostics +[rapha_interfaces/msg/Led]: #msg-led +[rapha_interfaces/msg/LedColor]: #msg-led-color +[rapha_interfaces/msg/LedPanel]: #msg-led-panel +[rapha_interfaces/msg/LedPanelState]: #msg-led-panel-state +[rapha_interfaces/msg/LedState]: #msg-led-state +[rapha_interfaces/msg/LedStripState]: #msg-led-strip-state +[rapha_interfaces/msg/MotorDiagnostics]: #msg-motor-diagnostics +[rapha_interfaces/msg/PowerSystemState]: #msg-power-system-state +[rapha_interfaces/msg/SteeringMode]: #msg-steering-mode +[rapha_interfaces/srv/SetBatteryModes]: #srv-set-battery-modes +[rapha_interfaces/srv/SetLeds]: #srv-set-leds +[rapha_interfaces/srv/SetSteeringMode]: #srv-set-steering-mode diff --git a/docs/rapha-rover/specification/specification.mdx b/docs/rapha-rover/specification/specification.mdx index f05f9bd0..6ec5726b 100644 --- a/docs/rapha-rover/specification/specification.mdx +++ b/docs/rapha-rover/specification/specification.mdx @@ -8,7 +8,7 @@ keywords: - mobile - robot - specification -description: +description: >- Rapha Rover is a research-ready platform designed to streamline development of various robotic projects, including inspection, agriculture, construction, and more. @@ -620,67 +620,6 @@ solution can be simplified to 2 nodes: These nodes can be configured to start alongside the core ones, extending the robot with autonomous navigation capabilities. -### ROS API - -The ROS API in the beta version is subject to changes. - -_Work in progress_ - -{/* TODO */} - -#### LED strip - -Messages can be divided into 3 types: - -- general, -- full LED strip control, -- single LED panel control. - -##### general - -```bash title="LedColor.msg - represents the color of an LED." -# The intensity of each color (255 = 100%) -uint8 red -uint8 green -uint8 blue -uint8 white -``` - -```bash title="LedState.msg - represents the state of a single LED." -# The duration (in ms) the state should be active -uint16 duration - -# The priority of the state. The state with the highest priority is displayed -# The value of -1 resets the user state of the LED -int8 priority - -# The color of the LED -rapha_interfaces/LedColor color -``` - -##### Full LED strip control - -```bash title="LesStripState.msg - represents the state of the whole led strip." -uint8 LED_STRIP_SIZE=129 -rapha_interfaces/LedState[129] state -``` - -##### Single LED panel control - -```bash title="LedPanel.msg - enumeration of robot's LEDs panels." -uint8 FRONT=0 -uint8 BACK=1 -uint8 LEFT=2 -uint8 RIGHT=3 - -uint8 data -``` - -```bash title="LedPanelState.msg - represents the state of the whole LED panel." -rapha_interfaces/LedPanel panel -rapha_interfaces/LedState[36] state -``` - ### Firmware {/* TODO */} diff --git a/docusaurus.config.ts b/docusaurus.config.ts index 4bcb0848..b040af88 100644 --- a/docusaurus.config.ts +++ b/docusaurus.config.ts @@ -113,10 +113,6 @@ const config: Config = { sidebarId: 'raphaSidebar', label: 'Rapha Rover', }, - { - href: 'https://docs.turtlerover.com/', - label: 'Turtle Rover (Legacy)', - }, ], }, { @@ -225,19 +221,19 @@ const config: Config = { [ '@docusaurus/plugin-client-redirects', { - fromExtensions: ['html', 'htm'], redirects: [ + // old slug redirects { from: '/docs/leo-rover/guides/remote-desktop', to: '/leo-rover/guides/remote-desktop', }, { from: '/docs/category/assembly-manuals', - to: '/category/assembly-manuals', + to: '/leo-rover/manuals', }, { from: '/docs/leo-rover/manuals/wheels-to-meb', - to: '/leo-rover/manuals/wheels-to-meb', + to: '/leo-rover/manuals/combining-subassemblies', }, { from: '/docs/leo-rover/documentation/specification', @@ -251,6 +247,91 @@ const config: Config = { from: '/docs/leo-rover/documentation/known-issues', to: '/leo-rover/documentation/known-issues', }, + { + from: '/leo-rover/manuals/tools', + to: '/leo-rover/manuals/setup', + }, + { + from: '/leo-rover/manuals/battery', + to: '/leo-rover/manuals/back-front-covers', + }, + { + from: '/leo-rover/manuals/additional-quarter-and-front-cover', + to: '/leo-rover/manuals/back-front-covers', + }, + { + from: '/leo-rover/manuals/meb-to-frame', + to: '/leo-rover/manuals/combining-subassemblies', + }, + { + from: '/leo-rover/manuals/wheels-to-meb', + to: '/leo-rover/manuals/combining-subassemblies', + }, + { + from: '/leo-rover/manuals/software', + to: '/leo-rover/manuals/boot-and-firmware', + }, + { + from: '/leo-rover/manuals/final-touches', + to: '/leo-rover/manuals/combining-subassemblies', + }, + // category redirects + { + from: '/category/rover-documentation', + to: '/leo-rover/documentation', + }, + { + from: '/category/assembly-manuals', + to: '/leo-rover/manuals', + }, + { + from: '/category/leo-examples', + to: '/leo-rover/leo-examples', + }, + { + from: '/category/addons', + to: '/leo-rover/addons', + }, + { + from: '/category/integrations', + to: '/leo-rover/integrations', + }, + { + from: '/category/computing-devices', + to: '/leo-rover/integrations/computing-devices', + }, + { + from: '/category/lidars', + to: '/leo-rover/integrations/lidars', + }, + { + from: '/category/positioning-systems', + to: '/leo-rover/integrations/positioning-systems', + }, + { + from: '/category/robotic-arms', + to: '/leo-rover/integrations/robotic-arms', + }, + { + from: '/category/software', + to: '/leo-rover/integrations/software', + }, + { + from: '/category/legacy-pre-leo-18', + to: '/leo-rover/integrations/legacy', + }, + { + from: '/category/guides', + to: '/leo-rover/guides', + }, + { + from: '/category/advanced-guides', + to: '/leo-rover/advanced-guides', + }, + { + from: '/category/archive', + to: '/leo-rover/archive', + }, ], } satisfies ClientRedirectsOptions, ], diff --git a/package.json b/package.json index 3b38932a..1e147dd4 100644 --- a/package.json +++ b/package.json @@ -18,9 +18,9 @@ "spellcheck": "cspell \"**/*.mdx\"" }, "dependencies": { - "@docusaurus/core": "3.4.0", - "@docusaurus/plugin-client-redirects": "3.4.0", - "@docusaurus/preset-classic": "3.4.0", + "@docusaurus/core": "3.5.2", + "@docusaurus/plugin-client-redirects": "3.5.2", + "@docusaurus/preset-classic": "3.5.2", "@mdx-js/react": "^3.0.1", "clsx": "^2.1.0", "medium-zoom": "^1.1.0", @@ -32,9 +32,9 @@ "remark-math": "6" }, "devDependencies": { - "@docusaurus/module-type-aliases": "3.4.0", - "@docusaurus/tsconfig": "3.4.0", - "@docusaurus/types": "3.4.0", + "@docusaurus/module-type-aliases": "3.5.2", + "@docusaurus/tsconfig": "3.5.2", + "@docusaurus/types": "3.5.2", "cspell": "^8.8.4", "prettier": "^3.3.1", "typescript": "^5.4.5" diff --git a/sidebars.ts b/sidebars.ts index a10cba77..957b5f3c 100644 --- a/sidebars.ts +++ b/sidebars.ts @@ -12,8 +12,17 @@ import type { SidebarsConfig } from '@docusaurus/plugin-content-docs'; */ const sidebars: SidebarsConfig = { // By default, Docusaurus generates a sidebar from the docs folder structure - leoSidebar: [{ type: 'autogenerated', dirName: 'leo-rover' }], + leoSidebar: [ + { + type: 'category', + label: 'Leo Rover', + link: { type: 'doc', id: 'leo-rover' }, + items: [{ type: 'autogenerated', dirName: 'leo-rover' }], + collapsible: false, + }, + ], raphaSidebar: [{ type: 'autogenerated', dirName: 'rapha-rover' }], + guidelines: [{ type: 'autogenerated', dirName: 'guidelines' }], // But you can create a sidebar manually /* diff --git a/src/components/FlexTableItem/index.tsx b/src/components/FlexTableItem/index.tsx index 5f1c5919..3da773f2 100644 --- a/src/components/FlexTableItem/index.tsx +++ b/src/components/FlexTableItem/index.tsx @@ -10,7 +10,6 @@ export default function FlexTableItem({ style, mobileColumns, }: DivProps) { - console.log(mobileColumns); let className; if (mobileColumns != 2) className = styles.flexTableItem1; else className = styles.flexTableItem2; diff --git a/src/components/LinkButton/index.tsx b/src/components/LinkButton/index.tsx index 18428002..b543befc 100644 --- a/src/components/LinkButton/index.tsx +++ b/src/components/LinkButton/index.tsx @@ -1,7 +1,10 @@ import React from 'react'; import styles from './styles.module.css'; import isInternalUrl from '@docusaurus/isInternalUrl'; -import { useDocsSidebar, useDocById } from '@docusaurus/theme-common/internal'; +import { + useDocsSidebar, + useDocById, +} from '@docusaurus/plugin-content-docs/client'; import type { PropSidebar, PropSidebarItemLink, diff --git a/src/data/features.tsx b/src/data/features.tsx index 40a98d91..6e7cd740 100644 --- a/src/data/features.tsx +++ b/src/data/features.tsx @@ -17,7 +17,7 @@ const FEATURES: FeatureItem[] = [ src: '/img/robots/leo/leo-rover.webp', width: 1000, height: 1000, - hyperlink: 'leo-rover/overview', + hyperlink: 'leo-rover', style: { width: 400, height: 'auto', paddingBottom: 20 }, }, text: ( diff --git a/static/img/robots/leo/manuals/add-quarter-front-cover/add-quarter-front-cover-1.webp b/static/img/robots/leo/archive/old-manuals/add-quarter-front-cover/add-quarter-front-cover-1.webp 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dependencies: "@babel/core" "^7.23.3" "@babel/generator" "^7.23.3" @@ -1629,12 +1629,12 @@ "@babel/runtime" "^7.22.6" "@babel/runtime-corejs3" "^7.22.6" "@babel/traverse" "^7.22.8" - "@docusaurus/cssnano-preset" "3.4.0" - "@docusaurus/logger" "3.4.0" - "@docusaurus/mdx-loader" "3.4.0" - "@docusaurus/utils" "3.4.0" - "@docusaurus/utils-common" "3.4.0" - "@docusaurus/utils-validation" "3.4.0" + "@docusaurus/cssnano-preset" "3.5.2" + "@docusaurus/logger" "3.5.2" + "@docusaurus/mdx-loader" "3.5.2" + "@docusaurus/utils" "3.5.2" + "@docusaurus/utils-common" "3.5.2" + "@docusaurus/utils-validation" "3.5.2" autoprefixer "^10.4.14" babel-loader "^9.1.3" babel-plugin-dynamic-import-node "^2.3.3" @@ -1688,32 +1688,32 @@ webpack-merge "^5.9.0" webpackbar "^5.0.2" -"@docusaurus/cssnano-preset@3.4.0": - version "3.4.0" - resolved "https://registry.yarnpkg.com/@docusaurus/cssnano-preset/-/cssnano-preset-3.4.0.tgz#dc7922b3bbeabcefc9b60d0161680d81cf72c368" - integrity 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escape-html "^1.0.3" @@ -1736,12 +1736,12 @@ vfile "^6.0.1" webpack "^5.88.1" -"@docusaurus/module-type-aliases@3.4.0": - version "3.4.0" - resolved "https://registry.yarnpkg.com/@docusaurus/module-type-aliases/-/module-type-aliases-3.4.0.tgz#2653bde58fc1aa3dbc626a6c08cfb63a37ae1bb8" - integrity sha512-A1AyS8WF5Bkjnb8s+guTDuYmUiwJzNrtchebBHpc0gz0PyHJNMaybUlSrmJjHVcGrya0LKI4YcR3lBDQfXRYLw== +"@docusaurus/module-type-aliases@3.5.2": + version "3.5.2" + resolved "https://registry.yarnpkg.com/@docusaurus/module-type-aliases/-/module-type-aliases-3.5.2.tgz#4e8f9c0703e23b2e07ebfce96598ec83e4dd2a9e" + integrity sha512-Z+Xu3+2rvKef/YKTMxZHsEXp1y92ac0ngjDiExRdqGTmEKtCUpkbNYH8v5eXo5Ls+dnW88n6WTa+Q54kLOkwPg== dependencies: - "@docusaurus/types" "3.4.0" + "@docusaurus/types" "3.5.2" "@types/history" "^4.7.11" "@types/react" "*" "@types/react-router-config" "*" @@ -1749,34 +1749,35 @@ react-helmet-async "*" react-loadable "npm:@docusaurus/react-loadable@6.0.0" 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