diff --git a/doc/lwc-doc/docs/architecture/data-flow.md b/doc/lwc-doc/docs/architecture/data-flow.md new file mode 100644 index 0000000..884e403 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/data-flow.md @@ -0,0 +1,3 @@ +# Потоки данных + +*Как данные идут от FRI до MoveIt: топики, сервисы, action-серверы.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-bringup.md b/doc/lwc-doc/docs/architecture/packages/iiwa-bringup.md new file mode 100644 index 0000000..1023d66 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-bringup.md @@ -0,0 +1,3 @@ +# iiwa_bringup + +*Launch-файлы, точка входа системы.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-config.md b/doc/lwc-doc/docs/architecture/packages/iiwa-config.md new file mode 100644 index 0000000..7d4c92f --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-config.md @@ -0,0 +1,3 @@ +# iiwa_config + +*URDF, SRDF, параметры контроллеров.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-controller.md b/doc/lwc-doc/docs/architecture/packages/iiwa-controller.md new file mode 100644 index 0000000..ca62b4f --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-controller.md @@ -0,0 +1,3 @@ +# iiwa_controller + +*Аппаратный интерфейс FRI: SystemInterface, контроллеры.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-description.md b/doc/lwc-doc/docs/architecture/packages/iiwa-description.md new file mode 100644 index 0000000..920a108 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-description.md @@ -0,0 +1,3 @@ +# iiwa_description + +*Визуальная и кинематическая модель робота.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-msgs.md b/doc/lwc-doc/docs/architecture/packages/iiwa-msgs.md new file mode 100644 index 0000000..3d0d879 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-msgs.md @@ -0,0 +1,3 @@ +# iiwa_msgs + +*Кастомные сообщения и сервисы.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-planning.md b/doc/lwc-doc/docs/architecture/packages/iiwa-planning.md new file mode 100644 index 0000000..06c4343 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-planning.md @@ -0,0 +1,3 @@ +# iiwa_planning + +*MoveIt, планирование траекторий, конфигурация планировщиков.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-sunrise.md b/doc/lwc-doc/docs/architecture/packages/iiwa-sunrise.md new file mode 100644 index 0000000..5e1c228 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-sunrise.md @@ -0,0 +1,3 @@ +# iiwa_sunrise + +*Мост с Java-кодом Sunrise Workbench.* diff --git a/doc/lwc-doc/docs/architecture/packages/iiwa-utils.md b/doc/lwc-doc/docs/architecture/packages/iiwa-utils.md new file mode 100644 index 0000000..cc1419c --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/iiwa-utils.md @@ -0,0 +1,3 @@ +# iiwa_utils + +*Вспомогательные утилиты.* diff --git a/doc/lwc-doc/docs/architecture/packages/realsense.md b/doc/lwc-doc/docs/architecture/packages/realsense.md new file mode 100644 index 0000000..b4ef539 --- /dev/null +++ b/doc/lwc-doc/docs/architecture/packages/realsense.md @@ -0,0 +1,3 @@ +# RealSense + +*Пакеты камеры: драйвер, сообщения, MQTT-мост.* diff --git a/doc/lwc-doc/docs/architecture/system-overview.md b/doc/lwc-doc/docs/architecture/system-overview.md new file mode 100644 index 0000000..962aa4a --- /dev/null +++ b/doc/lwc-doc/docs/architecture/system-overview.md @@ -0,0 +1,3 @@ +# Обзор системы + +*Диаграмма: робот ↔ FRI ↔ ROS2 ↔ интерфейсы управления.* diff --git a/doc/lwc-doc/docs/control/foxglove.md b/doc/lwc-doc/docs/control/foxglove.md new file mode 100644 index 0000000..55690ae --- /dev/null +++ b/doc/lwc-doc/docs/control/foxglove.md @@ -0,0 +1,3 @@ +# Foxglove Studio + +*Подключение, полезные панели, отправка команд.* diff --git a/doc/lwc-doc/docs/control/simulation.md b/doc/lwc-doc/docs/control/simulation.md new file mode 100644 index 0000000..dce5284 --- /dev/null +++ b/doc/lwc-doc/docs/control/simulation.md @@ -0,0 +1,3 @@ +# Симуляция + +*Запуск в Webots и RViz.* diff --git a/doc/lwc-doc/docs/control/terminal.md b/doc/lwc-doc/docs/control/terminal.md new file mode 100644 index 0000000..7cbf858 --- /dev/null +++ b/doc/lwc-doc/docs/control/terminal.md @@ -0,0 +1,3 @@ +# Терминал (ROS2 CLI) + +*`ros2 topic`, `ros2 action`, `ros2 service` — шпаргалка.* diff --git a/doc/lwc-doc/docs/control/web-interface.md b/doc/lwc-doc/docs/control/web-interface.md new file mode 100644 index 0000000..ca534b0 --- /dev/null +++ b/doc/lwc-doc/docs/control/web-interface.md @@ -0,0 +1,3 @@ +# Web-интерфейс + +*В разработке.* diff --git a/doc/lwc-doc/docs/development/build-rebuild.md b/doc/lwc-doc/docs/development/build-rebuild.md new file mode 100644 index 0000000..0728611 --- /dev/null +++ b/doc/lwc-doc/docs/development/build-rebuild.md @@ -0,0 +1,3 @@ +# Сборка и пересборка + +*`cobot rebuild`, `cobot clean`, `cobot update`.* diff --git a/doc/lwc-doc/docs/development/cli-reference.md b/doc/lwc-doc/docs/development/cli-reference.md new file mode 100644 index 0000000..a7dbe38 --- /dev/null +++ b/doc/lwc-doc/docs/development/cli-reference.md @@ -0,0 +1,3 @@ +# Справочник CLI + +*Полный список команд `cobot` с параметрами.* diff --git a/doc/lwc-doc/docs/development/troubleshooting.md b/doc/lwc-doc/docs/development/troubleshooting.md new file mode 100644 index 0000000..b156235 --- /dev/null +++ b/doc/lwc-doc/docs/development/troubleshooting.md @@ -0,0 +1,3 @@ +# Решение проблем + +*Частые ошибки и способы их исправления.* diff --git a/doc/lwc-doc/docs/examples/cartesian-goal.md b/doc/lwc-doc/docs/examples/cartesian-goal.md new file mode 100644 index 0000000..38411da --- /dev/null +++ b/doc/lwc-doc/docs/examples/cartesian-goal.md @@ -0,0 +1,3 @@ +# Декартова цель (pose) + +*Пример задания цели в пространстве через MoveIt.* diff --git a/doc/lwc-doc/docs/examples/joint-position.md b/doc/lwc-doc/docs/examples/joint-position.md new file mode 100644 index 0000000..12bac67 --- /dev/null +++ b/doc/lwc-doc/docs/examples/joint-position.md @@ -0,0 +1,3 @@ +# Движение в позицию по осям + +*Пример отправки joint position goal.* diff --git a/doc/lwc-doc/docs/examples/moveit-python.md b/doc/lwc-doc/docs/examples/moveit-python.md new file mode 100644 index 0000000..f07058c --- /dev/null +++ b/doc/lwc-doc/docs/examples/moveit-python.md @@ -0,0 +1,3 @@ +# MoveIt Python API + +*Управление роботом из Python-скрипта.* diff --git a/doc/lwc-doc/docs/examples/realsense-data.md b/doc/lwc-doc/docs/examples/realsense-data.md new file mode 100644 index 0000000..64dc81d --- /dev/null +++ b/doc/lwc-doc/docs/examples/realsense-data.md @@ -0,0 +1,3 @@ +# Чтение данных RealSense + +*Получение изображений и облака точек.* diff --git a/doc/lwc-doc/docs/examples/trajectory.md b/doc/lwc-doc/docs/examples/trajectory.md new file mode 100644 index 0000000..ee6416c --- /dev/null +++ b/doc/lwc-doc/docs/examples/trajectory.md @@ -0,0 +1,3 @@ +# Выполнение траектории + +*Пример составной траектории.* diff --git a/doc/lwc-doc/docs/getting-started/configuration.md b/doc/lwc-doc/docs/getting-started/configuration.md new file mode 100644 index 0000000..3a5ad99 --- /dev/null +++ b/doc/lwc-doc/docs/getting-started/configuration.md @@ -0,0 +1,3 @@ +# Настройка + +*`cobot robot-setup` и описание полей `cobot-setting.yaml`.* diff --git a/doc/lwc-doc/docs/getting-started/manual-install.md b/doc/lwc-doc/docs/getting-started/manual-install.md new file mode 100644 index 0000000..5f4faf7 --- /dev/null +++ b/doc/lwc-doc/docs/getting-started/manual-install.md @@ -0,0 +1,3 @@ +# Ручная установка + +*Нативная установка ROS2, Docker, Webots.* diff --git a/doc/lwc-doc/docs/getting-started/overview.md b/doc/lwc-doc/docs/getting-started/overview.md new file mode 100644 index 0000000..89b646c --- /dev/null +++ b/doc/lwc-doc/docs/getting-started/overview.md @@ -0,0 +1,3 @@ +# Обзор + +*Описание проекта, что это такое и зачем.* diff --git a/doc/lwc-doc/docs/getting-started/quick-start.md b/doc/lwc-doc/docs/getting-started/quick-start.md new file mode 100644 index 0000000..4c7d38f --- /dev/null +++ b/doc/lwc-doc/docs/getting-started/quick-start.md @@ -0,0 +1,3 @@ +# Быстрый старт + +*Установка одной командой и первый запуск.* diff --git a/doc/lwc-doc/docs/sunrise/deployment.md b/doc/lwc-doc/docs/sunrise/deployment.md new file mode 100644 index 0000000..14dc633 --- /dev/null +++ b/doc/lwc-doc/docs/sunrise/deployment.md @@ -0,0 +1,3 @@ +# Загрузка на контроллер + +*Сборка и деплой приложения на робота.* diff --git a/doc/lwc-doc/docs/sunrise/network.md b/doc/lwc-doc/docs/sunrise/network.md new file mode 100644 index 0000000..ac8dec7 --- /dev/null +++ b/doc/lwc-doc/docs/sunrise/network.md @@ -0,0 +1,3 @@ +# Настройка сети + +*FRI-соединение, IP-адреса и порты.* diff --git a/doc/lwc-doc/docs/sunrise/overview.md b/doc/lwc-doc/docs/sunrise/overview.md new file mode 100644 index 0000000..9f1408f --- /dev/null +++ b/doc/lwc-doc/docs/sunrise/overview.md @@ -0,0 +1,3 @@ +# Обзор Sunrise Workbench + +*Что такое FRI и зачем нужен Sunrise Workbench.* diff --git a/doc/lwc-doc/docs/sunrise/project-setup.md b/doc/lwc-doc/docs/sunrise/project-setup.md new file mode 100644 index 0000000..3b0bcf2 --- /dev/null +++ b/doc/lwc-doc/docs/sunrise/project-setup.md @@ -0,0 +1,3 @@ +# Настройка проекта + +*Импорт проекта, зависимости и библиотеки.* diff --git a/doc/lwc-doc/mkdocs.yml b/doc/lwc-doc/mkdocs.yml index 7428260..38f84af 100644 --- a/doc/lwc-doc/mkdocs.yml +++ b/doc/lwc-doc/mkdocs.yml @@ -4,6 +4,7 @@ site_author: Даниил Грабарь theme: name: material + custom_dir: overrides language: ru features: - navigation.tabs @@ -18,7 +19,7 @@ plugins: - with-pdf: author: Даниил Грабарь cover_title: Документация LWC - cover_subtitle: KUKA LBR iiwa7 ROS2 Control Framework + cover_subtitle: Lightweight Cobot output_path: pdf/document.pdf extra_javascript: @@ -32,23 +33,46 @@ markdown_extensions: nav: - Главная: index.md - # - Обзор проекта: - # - Введение: overview/intro.md - # - Архитектура: overview/architecture.md - # - Зависимости: overview/dependencies.md + - Getting Started: + - Обзор: getting-started/overview.md + - Быстрый старт: getting-started/quick-start.md + - Ручная установка: getting-started/manual-install.md + - Настройка: getting-started/configuration.md - # - Установка: - # - Требования: install/requirements.md - # - ROS2: install/ros2.md - # - KUKA FRI: install/fri.md + - Sunrise Workbench: + - Обзор: sunrise/overview.md + - Настройка проекта: sunrise/project-setup.md + - Настройка сети: sunrise/network.md + - Загрузка на контроллер: sunrise/deployment.md - # - Разработка: - # - Структура пакетов: dev/packages.md - # - Камеры RealSense: dev/realsense.md - # - Управление KUKA: dev/kuka.md - # - Сборка: dev/build.md + - Architecture: + - Обзор системы: architecture/system-overview.md + - Пакеты: + - iiwa_controller: architecture/packages/iiwa-controller.md + - iiwa_bringup: architecture/packages/iiwa-bringup.md + - iiwa_planning: architecture/packages/iiwa-planning.md + - iiwa_msgs: architecture/packages/iiwa-msgs.md + - iiwa_config: architecture/packages/iiwa-config.md + - iiwa_description: architecture/packages/iiwa-description.md + - iiwa_sunrise: architecture/packages/iiwa-sunrise.md + - iiwa_utils: architecture/packages/iiwa-utils.md + - RealSense: architecture/packages/realsense.md + - Потоки данных: architecture/data-flow.md - # - API: - # - Обзор: api/overview.md - # - Топики: api/topics.md - # - Сервисы: api/services.md + - Control: + - Foxglove Studio: control/foxglove.md + - Терминал: control/terminal.md + - Web-интерфейс: control/web-interface.md + - Симуляция: control/simulation.md + + - Examples: + - Joint Position: examples/joint-position.md + - Cartesian Goal: examples/cartesian-goal.md + - Траектория: examples/trajectory.md + - MoveIt Python API: examples/moveit-python.md + - RealSense данные: examples/realsense-data.md + + - Development: + - Сборка и пересборка: development/build-rebuild.md + - CLI Reference: development/cli-reference.md + - Решение проблем: development/troubleshooting.md diff --git a/doc/lwc-doc/overrides/partials/footer.html b/doc/lwc-doc/overrides/partials/footer.html new file mode 100644 index 0000000..04ca948 --- /dev/null +++ b/doc/lwc-doc/overrides/partials/footer.html @@ -0,0 +1,9 @@ +