Integrate ros2_control and add user documentation (backport #162) #163
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![mergify[bot]](https://avatars.githubusercontent.com/in/10562?s=60&v=4){kind=small}
* Started migration to new controller package and ardusub interface * Replaced launch files with yaml * Started integrating new control framework * Removed old scripts and configuration files; continued ardusub manager integration * Fixed launch files and started debugging manager * Fixed mavros configuration file * Added vscode file * Working state - need to finish updates to joy package * Working state all vehicles updated * Save point before I break things * Waiting to add demos until i add documentation * Added docs * Started reintegrating demos * Cleaned up devcontainer config * Added demos and vehicle images * Added links to demo readme * Added tutorials * Cleaned up site visualizations and styling * Updated readme * Moved citation * Fixed issues in tutorials * Fixed ci * Removed codespell * Fixed spelling errors * Fixed dockerignore * Added user documentation (#160) * Added docs * Started reintegrating demos * Cleaned up devcontainer config * Added demos and vehicle images * Added links to demo readme * Added tutorials * Cleaned up site visualizations and styling * Updated readme * Moved citation * Fixed issues in tutorials * Fixed ci * Removed codespell * Fixed spelling errors * Fixed dockerignore * Testing docs cd pipeline * Fixed reference to package-lock * Added path to docs * prolly wont work but worth a shot * take 2 * Another attempt * Testing * Removed previous change * Added separate ci docs pipeline * Added fixes and switched back to rolling * Fixed dockerfile ros version * Fixed readme (cherry picked from commit 3709432) # Conflicts: # .devcontainer/nouveau/devcontainer.json # .devcontainer/nvidia/devcontainer.json # blue.repos
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Cherry-pick of 3709432 has failed: To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally |
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Changes Made
This is a pretty significant PR that makes several API-breaking changes. In particular, the following breaking changes were made:
blue_dynamicshas been ported to hydrodynamics. The new project cleans up the original dynamics implementation and will also make it easier to add new features that are unrelated to Blue (e.g., parsing hydrodynamic parameters from a URDF/SDF file).blue_controlhas been re-written using ros2_control and ported to auv_controllers. Controllers will now be easier to implement and are vehicle-agnostic.sitl.launch.py,blue_joy,blue_manager, and the PWM passthrough handling have all been ported to ardusub_driver.ardusub_bringup.thruster_hardwarepackage and is implemented as a ros2_controlhardware interface
blue_managernow lives inardusub_managerand has been cleaned up.blue_joypackage has becomeardusub_teleopand now has a joystick configuration file tailored specifically toArduSub.
blue_utilshas been removed.Outside of these breaking changes, user documentation has been added with pipelines that deploy the documentation on push to main. The documentation is written using Docusaurus.
Associated Issues
Testing
Testing was done in simulation using SITL.
This is an automatic backport of pull request #162 done by [Mergify](https://mergify.com).