Merge pull request #29 from glaciercoder/main

Add a dependcy tutorial

docs/Documentation/Navigation/_category_.json

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+{
+  "label": "Navigation",
+  "position": 2,
+  "link": {
+    "type": "generated-index",
+    "description": "Navigation Interfaces"
+  }
+}

docs/Documentation/Navigation/setup.md

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+---
+id: navigation_setup_doc
+title: Navigation Setup Documentation
+---
+
+import Tabs from '@theme/Tabs';
+import TabItem from '@theme/TabItem';
+
+# Tinker Navigation Setup
+
+This doc is used for Tinker Navigation setup. Make sure you have finished the `ros2-humble` installation and the `ros2_control` setup in [this doc](temp).
+
+## Install `nav2` stack
+
+```sh
+sudo apt install ros-humble-navigation2
+sudo apt install ros-humble-nav2-bringup
+sudo apt install ros-humble-robot-localization
+sudo apt install ros-humble-slam-toolbox
+```
+
+## Setup Chassis
+Clone `tk23_navigation`: 
+```sh
+git clone [email protected]:tinkerfuroc/tk23_navigation.git
+```
+Make sure USB_CAN is connected, then 
+```sh
+sudo ./setupcan.sh
+```
+Then launch chassis:
+```sh
+./chassis_bringup.sh
+```
+You can now use keyboard to control the chassis
+
+## Setup Lidar
+
+Tinker uses Livox-Mid360 now.
+1. Config [livox-SDK2](https://github.com/Livox-SDK/Livox-SDK2/blob/master/README.md):
+   ```sh
+    git clone https://github.com/Livox-SDK/Livox-SDK2.git
+    cd ./Livox-SDK2/
+    mkdir build
+    cd build
+    cmake .. && make -j
+    sudo make install
+   ```
+2. Livox Driver: the official driver config can be found [here](https://github.com/Livox-SDK/livox_ros_driver2?tab=readme-ov-file). We have put the driver into `tk23_navigation` package and the user don't need to config driver addtionally.
+3. Setup `pointcloud2laserscan`:
+   Tinker navigation uses 2D laser scan from 3D pointcloud for mapping. install:
+   ```sh
+   sudo apt install ros-humble-pointcloud-to-laserscan
+   ```
+4. Test lidar:
+   Go to `tk23_navigation`, run
+   ```sh
+   ./chassis_lidar_bringup.sh
+   ```
+   You should see pointcloud in rviz2.
+
+## Setup Map
+To setup a map, go to `tk23_navigation`, run:
+```sh
+ros2 launch tinker_nav_bringup tinker_slam.launch.py
+```
+s
+
+

docs/Intro/Tinker_new_pc_get_started.md

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+---
+last_update:
+  date: 5/26/2024
+  author: CabbageDog
+---
+
+# Tinker New PC Setup
+This Document aims to provide the steps to set up a PC for Tinker developing. 
+## System Requirements
+`Ubuntu 22.04 Desktop`
+## Basic Software Installation
+Download `.deb` package of `chrome`, `vs code` from the official site
+```sh
+sudo dpkg -i <xxx>.deb
+```
+## Basic Commands Installation
+```sh
+sudo apt update
+sudo apt upgrade
+sudo apt-get install git vim curl htop
+```
+#### Config `git`
+```sh
+git config --global user.name "YOUR_NAME"
+git config --global user.email "YOUR_EMAIL"
+# Generate ssh key
+ssh-keygen -t ed25519 -C "[email protected]"
+```
+Then add the key to github, see [ref](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account)
+
+## Config `zsh` (Optional)
+Since many scripts are based on `zsh`, it is recommended to config `zsh`:
+```sh
+sudo apt-get install zsh
+sudo vim /etc/passwd
+```
+Change then end of the line started with your username `/bin/bash` to `/bin/zsh`
+### Config `oh-my-zsh` and `powerlevel10k`
+Use `oh-my-zsh` to customize `zsh`:[oh-my-zsh](https://ohmyz.sh/)
+
+Use `powerlevel10k`: [powerlevel10k](https://github.com/romkatv/powerlevel10k) 
+
+> Attention: powerlevel works best using its fonts, so don't forget install the fonts and apply them in the profile of zsh
+Config `auto_suggestion` and `syntax-highlighting`
+```sh
+sudo git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions
+sudo git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting
+```
+Edit `.zshrc`, add:
+```sh
+plugins=(
+  ...
+  zsh-autosuggestions
+  zsh-syntax-highlighting
+)
+```
+
+## Install ROS2-Humble
+ROS2 humble can be installed following [official-docs], use
+```sh
+sudo apt install ros-humble-desktop-full
+```
+This makes `gazebo11` installed as well.
+And don't forget
+```sh
+sudo apt install ros-dev-tools
+```
+Config `zshrc`
+```sh
+echo "source /opt/ros/humble/setup.zsh" >> .zshrc
+echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.zshrc
+echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.zshrc
+```
+Config `rosdep`
+```sh
+sudo rosdep init
+sudo rosdep update
+```
+Some useful packages:
+```sh
+sudo apt-get install ros-humble-rqt-tf-tree
+sudo apt install ros-humble-gazebo-ros-pkgs
+```
+
+## Install `ros2_control`
+`ros2_control` is used in many parts of tinker such as chassis or arm:
+```sh
+sudo apt-get install ros-humble-ros2-control
+sudo apt-get install ros-humble-ros2-controllers
+sudo apt-get install ros-humble-gazebo-ros2-control
+```