updated doc

Author: mhubii

lbr_fri_ros2/doc/img/lbr_fri_ros2.drawio.svg

@@ -9,47 +9,17 @@ lbr_fri_ros2
 
    ../../../docs/doxygen/lbr_fri_ros2/html/annotated_classes
 
-The ``lbr_fri_ros2`` package adds :lbr_fri_ros2:`AsyncClient <lbr_fri_ros2::AsyncClient>`.
-
 Software Architecture
 ---------------------
-An overview of the software architecture is shown :ref:`below <target to software architecture figure>`:
-
-.. _target to software architecture figure:
-.. thumbnail:: img/lbr_fri_ros2.drawio.svg
-    :alt: lbr_fri_ros2
-
-Design Principles
-~~~~~~~~~~~~~~~~~
-- Leave KUKA's FRI **untouched** (except for new ``ament_cmake`` build system) -> implemented through :ref:`FRI` package.
-- Bridge ``nanopb`` (used within FRI for message definition) with ROS 2 Interface Definition Language (``IDL``) -> implemented through ``lbr_fri_idl`` package.
-- Support future versions of the FRI -> implemented through ``vcstool`` and by separating the :ref:`FRI` package.
-- Run stand-alone **and** within ``ros2_control`` -> implemented through :lbr_fri_ros2:`App <lbr_fri_ros2::App>`.
-
-Implementation Details
-~~~~~~~~~~~~~~~~~~~~~~
-The FRI lets users communicate to the robot via a :fri:`ClientApplication <KUKA::FRI::ClientApplication>`. The :fri:`ClientApplication <KUKA::FRI::ClientApplication>` has (see :ref:`above <target to software architecture figure>`):
-
-- :fri:`UdpConnection <KUKA::FRI::UdpConnection>` (UDP socket for reading states / sending commands)
-- :fri:`Client <KUKA::FRI::LBRClient>` (interface for reading states / sending commands)
+The ``lbr_fri_ros2`` package extends the FRI with:
 
-The user calls :fri:`step <KUKA::FRI::ClientApplication::step()>`, which, depending on the robot's state, callbacks:
+#. :lbr_fri_ros2:`AsyncClient <lbr_fri_ros2::AsyncClient>` for asynchronous communication to the hardware
+#. :lbr_fri_ros2:`App <lbr_fri_ros2::App>` for running the :lbr_fri_ros2:`AsyncClient <lbr_fri_ros2::AsyncClient>` asynchronously
 
-- :fri:`monitor <KUKA::FRI::LBRClient::monitor()>`
-- :fri:`waitForCommand <KUKA::FRI::LBRClient::waitForCommand()>`
-- :fri:`command <KUKA::FRI::LBRClient::command()>`
+An overview of the software architecture is shown :ref:`below <software architecture figure>`:
 
-The user can implement these callbacks to read states / send commands by implementing an :fri:`Client <KUKA::FRI::LBRClient>`.
-
-The ``lbr_fri_ros2`` package implements an :fri:`Client <KUKA::FRI::LBRClient>` in :lbr_fri_ros2:`Client <lbr_fri_ros2::Client>`.
-
-The :lbr_fri_ros2:`Client <lbr_fri_ros2::Client>` has
-
- - A publisher to publish states in :lbr_fri_ros2:`pub_lbr_state_ <lbr_fri_ros2::Client::pub_lbr_state_()>`.
- - A subscription to read commands in :lbr_fri_ros2:`on_lbr_command_ <lbr_fri_ros2::Client::on_lbr_command_(const lbr_fri_idl::msg::LBRCommand::SharedPtr lbr_command)>`.
-
-Commands in :lbr_fri_ros2:`on_lbr_command_ <lbr_fri_ros2::Client::on_lbr_command_(const lbr_fri_idl::msg::LBRCommand::SharedPtr lbr_command)>` are checked for validity via a :lbr_fri_ros2:`CommandGuard <lbr_fri_ros2::CommandGuard>`.
+.. _software architecture figure:
+.. thumbnail:: img/lbr_fri_ros2_v1.5.0.svg
+    :alt: lbr_fri_ros2
 
-API
-~~~
-For the ``Doxygen`` generated API, checkout `lbr_fri_ros2 <../../../docs/doxygen/lbr_fri_ros2/html/hierarchy.html>`_.
+The :ref:`lbr_ros2_control` package can be considered a **User** in the above figure. It builds on top of the ``lbr_fri_ros2`` package to provide a ROS 2 interface to the hardware.