initial doc re-structure

Author: mhubii

docker/doc/docker.rst

@@ -1,4 +1,4 @@
-Docker
+docker
 ======
 To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions below.
 

lbr_bringup/doc/lbr_bringup.rst

@@ -1,4 +1,4 @@
-LBR Bringup
+lbr_bringup
 ===========
 The ``lbr_bringup`` works for the simulation and the real robot. Run:
 
@@ -29,7 +29,7 @@ Select
 Users may also refer to :ref:`Software Architecture` for a better understanding of the underlying ``lbr_fri_ros2`` package.
 
 .. note::
-    For the real robot, make sure you have followed :ref:`Robot Setup` first.
+    For the real robot, make sure you have followed :doc:`Hardware Setup <../../lbr_fri_ros2_stack/doc/hardware_setup>` first.
 
 .. warning::
     On the real robot, do always execute in ``T1`` mode first.

lbr_demos/doc/lbr_demos.rst

@@ -1,29 +1,33 @@
-LBR Demos
+lbr_demos
 =========
 Contolling the LBR through ROS 2 control.
 
 .. note::
-    Some demos require a real robot. Make sure you followed :ref:`Robot Setup` first.
+    Some demos require a real robot. Make sure you followed :doc:`Hardware Setup <../../lbr_fri_ros2_stack/doc/hardware_setup>` first.
 
 .. warning::
     On the real robot, do always execute in ``T1`` mode first.
 
-Demos
------
+Simple
+------
 .. toctree::
     :titlesonly:
 
-    LBR Demos C++ <../lbr_demos_cpp/doc/lbr_demos_cpp.rst>
-    LBR Demos Python <../lbr_demos_py/doc/lbr_demos_py.rst>
+    lbr_demos_cpp <../lbr_demos_cpp/doc/lbr_demos_cpp.rst>
+    lbr_demos_py <../lbr_demos_py/doc/lbr_demos_py.rst>
 
-Advanced Demos
---------------
+Advanced
+--------
 .. toctree::
     :titlesonly:
 
-    LBR Demos Advanced C++ <../lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst>
-    LBR Demos Advanced Python <../lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst>
+    lbr_demos_advanced_cpp <../lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst>
+    lbr_demos_advanced_py <../lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst>
 
-MoveIt 2 Demos
+MoveIt 2
 --------------
-TODO
+TODO moveit simple action client demos
+
+Integration
+-----------
+TODO system integration demos

lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst

@@ -1,4 +1,4 @@
-LBR Demos Advanced C++
+lbr_demos_advanced_cpp
 ======================
 Collection of advanced usage examples for the ``lbr_fri_ros2`` package through C++.
 
@@ -16,20 +16,20 @@ Admittance Controller
 
 #. Launch the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        sim:=false \
-        ctrl:=lbr_position_command_controller \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            sim:=false \
+            ctrl:=lbr_position_command_controller \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-#. Launch the `admittance_control <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_advanced_cpp/src/admittance_control_node.cpp>`_:
+#. Launch the `admittance_control <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_advanced_cpp/src/admittance_control_node.    cpp>`_:
 
-.. code-block:: bash
-
-    ros2 run lbr_demos_advanced_cpp admittance_control --ros-args \
-        -r __ns:=/lbr \
-        --params-file `ros2 pkg prefix lbr_demos_advanced_cpp`/share/lbr_demos_advanced_cpp/config/admittance_control.yaml
+    .. code-block:: bash    
+    
+        ros2 run lbr_demos_a    dvanced_cpp admittance_control --ros-args \
+            -r __ns:=/lbr \
+            --params-file `ros2 pkg prefix lbr_demos_advanced_cpp`/share/lbr_demos_advanced_cpp/config/admittance_control.yaml
 
 #. Now gently move the robot at the end-effector.
 
@@ -44,23 +44,23 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space.
 
 #. Launch the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        sim:=false \
-        ctrl:=lbr_position_command_controller \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            sim:=false \
+            ctrl:=lbr_position_command_controller \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Launch the pose control
 
-.. code-block:: bash
+    .. code-block:: bash
     
-    ros2 run lbr_demos_advanced_cpp pose_control --ros-args \
-        -r __ns:=/lbr
+        ros2 run lbr_demos_advanced_cpp pose_control --ros-args \
+            -r __ns:=/lbr
 
 #. Launch the path planning
 
-.. code-block:: bash
+    .. code-block:: bash
     
-    ros2 run lbr_demos_advanced_cpp pose_planning --ros-args \
-        -r __ns:=/lbr
+        ros2 run lbr_demos_advanced_cpp pose_planning --ros-args \
+            -r __ns:=/lbr

lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst

@@ -1,5 +1,5 @@
-LBR Demos Advanced Python
-=========================
+lbr_demos_advanced_py
+=====================
 Collection of advanced usage examples for the ``lbr_ros2_control`` package through Python.
 
 .. warning::
@@ -18,20 +18,20 @@ This demo implements a simple admittance controller.
 
 #. Launch the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        sim:=false \
-        ctrl:=lbr_position_command_controller \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            sim:=false \
+            ctrl:=lbr_position_command_controller \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `admittance_control <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_advanced_py/lbr_demos_advanced_py/admittance_control_node.py>`_ with remapping and parameter file:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_advanced_py admittance_control --ros-args \
-        -r __ns:=/lbr \
-        --params-file `ros2 pkg prefix lbr_demos_advanced_py`/share/lbr_demos_advanced_py/config/admittance_control.yaml
+        ros2 run lbr_demos_advanced_py admittance_control --ros-args \
+            -r __ns:=/lbr \
+            --params-file `ros2 pkg prefix lbr_demos_advanced_py`/share/lbr_demos_advanced_py/config/admittance_control.yaml
 
 #. Now gently move the robot at the end-effector.
 
@@ -45,19 +45,19 @@ This demo implements an admittance controller with a remote center of motion (RC
 
 #. Launch the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        sim:=false \
-        ctrl:=lbr_position_command_controller \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            sim:=false \
+            ctrl:=lbr_position_command_controller \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `admittance_rcm_control <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_advanced_py/lbr_demos_advanced_py/admittance_rcm_control_node.py>`_ with remapping and parameter file:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_advanced_py admittance_rcm_control --ros-args \
-        -r __ns:=/lbr \
-        --params-file `ros2 pkg prefix lbr_demos_advanced_py`/share/lbr_demos_advanced_py/config/admittance_rcm_control.yaml
+        ros2 run lbr_demos_advanced_py admittance_rcm_control --ros-args \
+            -r __ns:=/lbr \
+            --params-file `ros2 pkg prefix lbr_demos_advanced_py`/share/lbr_demos_advanced_py/config/admittance_rcm_control.yaml
 
 #. Now gently move the robot at the end-effector.

lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst

@@ -1,4 +1,4 @@
-LBR Demos C++
+lbr_demos_cpp
 =============
 add table of contents TODO with sim / real matrix
 
@@ -20,43 +20,44 @@ Joint Sine Overlay
 
 #. Run the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        ctrl:=lbr_position_command_controller \
-        sim:=false \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            ctrl:=lbr_position_command_controller \
+            sim:=false \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position through the Java application.
+
+    The robot will move to the initial position through the Java application.
 
 #. Run the `joint_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/joint_sine_overlay.cpp>`_ node:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_cpp joint_sine_overlay --ros-args -r __ns:=/lbr
+        ros2 run lbr_demos_cpp joint_sine_overlay --ros-args -r __ns:=/lbr
 
-This node overlays a sinusoidal motion on joint ``A4``.
+    This node overlays a sinusoidal motion on joint ``A4``.
 
 Joint Trajectory Controller
 ---------------------------
 Simulation
 ~~~~~~~~~~
 #. Launch the simulated robot:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py sim:=true model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py sim:=true model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `joint_trajectory_client <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/joint_trajectory_client.cpp>`_:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_cpp joint_trajectory_client --ros-args -r __ns:=/lbr
+        ros2 run lbr_demos_cpp joint_trajectory_client --ros-args -r __ns:=/lbr
 
-The robot will twist, then move to the zero configuration.
+    The robot will twist, then move to the zero configuration.
 
-Real Robot
-~~~~~~~~~~
+Hardware
+~~~~~~~~
 #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
 
     .. thumbnail:: ../../doc/img/applications_lbr_server.png
@@ -85,22 +86,22 @@ Torque Sine Overlay
 
 #. Run the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        ctrl:=lbr_torque_command_controller \
-        sim:=false \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            ctrl:=lbr_torque_command_controller \
+            sim:=false \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position through the Java application.
+    The robot will move to the initial position through the Java application.
 
 #. Run the `torque_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/torque_sine_overlay.cpp>`_ node:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_cpp torque_sine_overlay --ros-args -r __ns:=/lbr
+        ros2 run lbr_demos_cpp torque_sine_overlay --ros-args -r __ns:=/lbr
 
-This node overlays a sinusoidal torque on joint ``A4``.
+    This node overlays a sinusoidal torque on joint ``A4``.
 
 Wrench Sine Overlay
 -------------------
@@ -117,19 +118,19 @@ Wrench Sine Overlay
 
 #. Run the robot driver:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py \
-        ctrl:=lbr_wrench_command_controller \
-        sim:=false \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+        ros2 launch lbr_bringup bringup.launch.py \
+            ctrl:=lbr_wrench_command_controller \
+            sim:=false \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position through the Java application.
+    The robot will move to the initial position through the Java application.
 
 #. Run the `wrench_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/wrench_sine_overlay>`_ node:
 
-.. code-block:: bash
+    .. code-block:: bash
 
-    ros2 run lbr_demos_cpp wrench_sine_overlay --ros-args -r __ns:=/lbr
+        ros2 run lbr_demos_cpp wrench_sine_overlay --ros-args -r __ns:=/lbr
 
-This node overlays a sinusoidal force on the x- and y-axis.
+    This node overlays a sinusoidal force on the x- and y-axis.