From 7d22b3d90502957c3de1ea9ebd9b3f5e58e3efb7 Mon Sep 17 00:00:00 2001 From: devel Date: Thu, 12 Oct 2023 08:33:37 +0200 Subject: [PATCH] updated docs --- docs/simulation/coppelia/{index.md => coppelia.md} | 0 docs/simulation/gazebo/{index.md => gazebo.md} | 0 docs/simulation/gazebo/{ => gazebo}/custom_world.md | 1 + .../simulation/gazebo/{ => gazebo}/drone_spawner.md | 1 + .../gazebo/{ => gazebo}/fig/custom_world.jpg | Bin .../fig/real-world-elevation/apply-modifiers.png | Bin .../fig/real-world-elevation/basemap.png | Bin .../real-world-elevation/blender-preferences.png | Bin .../fig/real-world-elevation/closest-point.png | Bin .../fig/real-world-elevation/elevation.png | Bin .../fig/real-world-elevation/export-settings.png | Bin .../fig/real-world-elevation/export.png | Bin .../fig/real-world-elevation/gazebo.png | Bin .../{ => gazebo}/fig/real-world-elevation/goto.png | Bin .../fig/real-world-elevation/location.png | Bin .../fig/real-world-elevation/move-all-X.png | Bin .../fig/real-world-elevation/plugin.png | Bin .../fig/real-world-elevation/textured-plane.png | Bin docs/simulation/gazebo/{ => gazebo}/gazebo_video.md | 1 + docs/simulation/gazebo/{ => gazebo}/howto.md | 1 + .../gazebo/{ => gazebo}/real_world_elevation.md | 1 + .../gazebo/{ => gazebo}/simulation_motor_thrust.md | 1 + .../gazebo/{ => gazebo}/simulation_speed.md | 1 + docs/simulation/mrs/{index.md => mrs.md} | 0 docs/system/uav_ros_interface.md | 12 ++++++------ 25 files changed, 13 insertions(+), 6 deletions(-) rename docs/simulation/coppelia/{index.md => coppelia.md} (100%) rename docs/simulation/gazebo/{index.md => gazebo.md} (100%) rename docs/simulation/gazebo/{ => gazebo}/custom_world.md (99%) rename docs/simulation/gazebo/{ => gazebo}/drone_spawner.md (99%) rename docs/simulation/gazebo/{ => gazebo}/fig/custom_world.jpg (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/apply-modifiers.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/basemap.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/blender-preferences.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/closest-point.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/elevation.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/export-settings.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/export.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/gazebo.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/goto.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/location.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/move-all-X.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/plugin.png (100%) rename docs/simulation/gazebo/{ => gazebo}/fig/real-world-elevation/textured-plane.png (100%) rename docs/simulation/gazebo/{ => gazebo}/gazebo_video.md (99%) rename docs/simulation/gazebo/{ => gazebo}/howto.md (99%) rename docs/simulation/gazebo/{ => gazebo}/real_world_elevation.md (99%) rename docs/simulation/gazebo/{ => gazebo}/simulation_motor_thrust.md (98%) rename docs/simulation/gazebo/{ => gazebo}/simulation_speed.md (98%) rename docs/simulation/mrs/{index.md => mrs.md} (100%) diff --git a/docs/simulation/coppelia/index.md b/docs/simulation/coppelia/coppelia.md similarity index 100% rename from docs/simulation/coppelia/index.md rename to docs/simulation/coppelia/coppelia.md diff --git a/docs/simulation/gazebo/index.md b/docs/simulation/gazebo/gazebo.md similarity index 100% rename from docs/simulation/gazebo/index.md rename to docs/simulation/gazebo/gazebo.md diff --git a/docs/simulation/gazebo/custom_world.md b/docs/simulation/gazebo/gazebo/custom_world.md similarity index 99% rename from docs/simulation/gazebo/custom_world.md rename to docs/simulation/gazebo/gazebo/custom_world.md index 67f03956..601ee0fe 100644 --- a/docs/simulation/gazebo/custom_world.md +++ b/docs/simulation/gazebo/gazebo/custom_world.md @@ -2,6 +2,7 @@ layout: default title: Custom simulation world parent: Gazebo +grand_parent: Simulation --- | :warning: **Attention please: This page is outdated.** | diff --git a/docs/simulation/gazebo/drone_spawner.md b/docs/simulation/gazebo/gazebo/drone_spawner.md similarity index 99% rename from docs/simulation/gazebo/drone_spawner.md rename to docs/simulation/gazebo/gazebo/drone_spawner.md index 6cf40216..7669cc8a 100644 --- a/docs/simulation/gazebo/drone_spawner.md +++ b/docs/simulation/gazebo/gazebo/drone_spawner.md @@ -2,6 +2,7 @@ layout: default title: MRS Drone Spawner parent: Gazebo +grand_parent: Simulation --- | :warning: **Attention please: This page is outdated.** | diff --git a/docs/simulation/gazebo/fig/custom_world.jpg b/docs/simulation/gazebo/gazebo/fig/custom_world.jpg similarity index 100% rename from docs/simulation/gazebo/fig/custom_world.jpg rename to docs/simulation/gazebo/gazebo/fig/custom_world.jpg diff --git a/docs/simulation/gazebo/fig/real-world-elevation/apply-modifiers.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/apply-modifiers.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/apply-modifiers.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/apply-modifiers.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/basemap.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/basemap.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/basemap.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/basemap.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/blender-preferences.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/blender-preferences.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/blender-preferences.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/blender-preferences.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/closest-point.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/closest-point.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/closest-point.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/closest-point.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/elevation.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/elevation.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/elevation.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/elevation.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/export-settings.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/export-settings.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/export-settings.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/export-settings.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/export.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/export.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/export.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/export.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/gazebo.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/gazebo.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/gazebo.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/gazebo.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/goto.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/goto.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/goto.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/goto.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/location.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/location.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/location.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/location.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/move-all-X.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/move-all-X.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/move-all-X.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/move-all-X.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/plugin.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/plugin.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/plugin.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/plugin.png diff --git a/docs/simulation/gazebo/fig/real-world-elevation/textured-plane.png b/docs/simulation/gazebo/gazebo/fig/real-world-elevation/textured-plane.png similarity index 100% rename from docs/simulation/gazebo/fig/real-world-elevation/textured-plane.png rename to docs/simulation/gazebo/gazebo/fig/real-world-elevation/textured-plane.png diff --git a/docs/simulation/gazebo/gazebo_video.md b/docs/simulation/gazebo/gazebo/gazebo_video.md similarity index 99% rename from docs/simulation/gazebo/gazebo_video.md rename to docs/simulation/gazebo/gazebo/gazebo_video.md index 156783a9..93a5cd98 100644 --- a/docs/simulation/gazebo/gazebo_video.md +++ b/docs/simulation/gazebo/gazebo/gazebo_video.md @@ -2,6 +2,7 @@ layout: default title: Videos from Gazebo parent: Gazebo +grand_parent: Simulation --- # How to generate video from Gazebo diff --git a/docs/simulation/gazebo/howto.md b/docs/simulation/gazebo/gazebo/howto.md similarity index 99% rename from docs/simulation/gazebo/howto.md rename to docs/simulation/gazebo/gazebo/howto.md index d01a76f0..a9d5203e 100644 --- a/docs/simulation/gazebo/howto.md +++ b/docs/simulation/gazebo/gazebo/howto.md @@ -2,6 +2,7 @@ layout: default title: How to simulate parent: Gazebo +grand_parent: Simulation --- | :warning: **Attention please: This page is outdated.** | diff --git a/docs/simulation/gazebo/real_world_elevation.md b/docs/simulation/gazebo/gazebo/real_world_elevation.md similarity index 99% rename from docs/simulation/gazebo/real_world_elevation.md rename to docs/simulation/gazebo/gazebo/real_world_elevation.md index 049efa6b..a7f17a4d 100644 --- a/docs/simulation/gazebo/real_world_elevation.md +++ b/docs/simulation/gazebo/gazebo/real_world_elevation.md @@ -2,6 +2,7 @@ layout: default title: How to create a real world elevation map in Gazebo parent: Gazebo +grand_parent: Simulation --- # How to create a real world elevation map in Gazebo diff --git a/docs/simulation/gazebo/simulation_motor_thrust.md b/docs/simulation/gazebo/gazebo/simulation_motor_thrust.md similarity index 98% rename from docs/simulation/gazebo/simulation_motor_thrust.md rename to docs/simulation/gazebo/gazebo/simulation_motor_thrust.md index ea806b5b..8520559f 100644 --- a/docs/simulation/gazebo/simulation_motor_thrust.md +++ b/docs/simulation/gazebo/gazebo/simulation_motor_thrust.md @@ -2,6 +2,7 @@ layout: default title: Gazebo Motor Parameters parent: Gazebo +grand_parent: Simulation --- | :warning: **Attention please: This page is outdated.** | diff --git a/docs/simulation/gazebo/simulation_speed.md b/docs/simulation/gazebo/gazebo/simulation_speed.md similarity index 98% rename from docs/simulation/gazebo/simulation_speed.md rename to docs/simulation/gazebo/gazebo/simulation_speed.md index 583d9de4..4089d157 100644 --- a/docs/simulation/gazebo/simulation_speed.md +++ b/docs/simulation/gazebo/gazebo/simulation_speed.md @@ -2,6 +2,7 @@ layout: default title: Run Simulation Faster than Real-time parent: Gazebo +grand_parent: Simulation --- | :warning: **Attention please: This page is outdated.** | diff --git a/docs/simulation/mrs/index.md b/docs/simulation/mrs/mrs.md similarity index 100% rename from docs/simulation/mrs/index.md rename to docs/simulation/mrs/mrs.md diff --git a/docs/system/uav_ros_interface.md b/docs/system/uav_ros_interface.md index 98bcfc8a..70946120 100644 --- a/docs/system/uav_ros_interface.md +++ b/docs/system/uav_ros_interface.md @@ -11,11 +11,11 @@ nav_order: 3 # UAV-ROS interface -The UAV can be given commands via the following [managers](https://github.com/ctu-mrs/mrs_uav_managers) and the [state estimator](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-). +The UAV can be given commands via the following [managers](https://github.com/ctu-mrs/mrs_uav_managers). ## ControlManager -The [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager) takes care of executing the [trackers](https://github.com/ctu-mrs/mrs_uav_trackers#mrs-uav-trackers-) and [controllers](https://github.com/ctu-mrs/mrs_uav_controllers#mrs-uav-controllers-) and it maintains one of each as an *active*. +The [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager) takes care of executing the [trackers](https://github.com/ctu-mrs/mrs_uav_trackers#mrs-uav-trackers-) and [controllers](https://github.com/ctu-mrs/mrs_uav_controllers#mrs-uav-controllers-) and it maintains one of each as an *active* one. The controllers handle a feedback loop for stabilization and control of the UAV. The trackers are the reference generators for the controllers. High-level navigation (or a user) does not interact with the controllers/trackers directly. @@ -23,10 +23,10 @@ The *managers* provide most of the interface*. ### The flow of information -The ControManager is subscribed to a source of [UAV odometry](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-), and it hands it to the trackers and controllers. -With each update of the state estimate, the currently active tracker produces a new reference, and the currently active controller generates a new control command. -The controllers and trackers can be switched in mid-flight to accommodate for mission different scenarios. -Users supply the desired references to the ControlManager, which forwards them to the currently active tracker and controller. +The ControManager is subscribed to a source of [UAV State](https://ctu-mrs.github.io/mrs_msgs/msg/UavState.html), and it hands it to the trackers and controllers. +With each update of the UAV State, the currently active tracker produces a new reference, and the currently active controller generates a new control output. +The controllers and trackers can be switched in mid-flight to accommodate for different mission scenarios. +Users supply the desired references to the ControlManager, which forwards the references to the currently active tracker and controller. ### Provided topics