Adds Sphinx documentation. (#10)

README.rst

@@ -12,30 +12,30 @@
    See the License for the specific language governing permissions and
    limitations under the License.
 
-================================
-Cartographer ROS for TurtleBot 2
-================================
+===============================
+Cartographer ROS for TurtleBots
+===============================
 
-|build|
+|build| |docs|
 
 Purpose
 =======
 
 `Cartographer`_ is a system that provides real-time simultaneous localization
 and mapping `SLAM`_ across multiple platforms and sensor configurations. This
-repository provides Cartographer SLAM for `TurtleBot 2`_ via
+repository provides Cartographer SLAM for `TurtleBots`_ via
 `Cartographer ROS`_.
 
 .. _Cartographer: https://github.com/googlecartographer/cartographer
 .. _Cartographer ROS: https://github.com/googlecartographer/cartographer_ros
 .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
-.. _TurtleBot 2: http://www.turtlebot.com/
+.. _TurtleBots: http://www.turtlebot.com/
 
 Contributing
 ============
 
-You can find information about contributing to Cartographer's TurtleBot support
-at our `Contribution page`_.
+You can find information about contributing to Cartographer ROS's TurtleBot
+support at our `Contribution page`_.
 
 .. _Contribution page: https://github.com/googlecartographer/cartographer_turtlebot/blob/master/CONTRIBUTING.md
 
@@ -43,3 +43,8 @@ at our `Contribution page`_.
     :alt: Build Status
     :scale: 100%
     :target: https://travis-ci.org/googlecartographer/cartographer_turtlebot
+
+.. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros-for-turtlebots/badge/?version=latest
+    :alt: Documentation Status
+    :scale: 100%
+    :target: https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/?badge=latest

docs/CMakeLists.txt

@@ -0,0 +1,31 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required (VERSION 2.8.7)
+
+project(cartographer_turtlebot_docs)
+
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
+find_package(Sphinx)
+
+set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/docs/html")
+
+add_custom_target(build_doc ALL
+    ${SPHINX_EXECUTABLE} -b html
+    ${CMAKE_CURRENT_SOURCE_DIR}/source
+    ${CMAKE_CURRENT_BINARY_DIR}/html
+    COMMENT "Building documentation."
+)
+
+# TODO(hrapp): Install documentation?

docs/FindSphinx.cmake

@@ -0,0 +1,24 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# TODO(hrapp): Replace through the one of ceres
+
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             PATHS
+               /usr/bin
+             DOC "Sphinx")
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Sphinx DEFAULT_MSG SPHINX_EXECUTABLE)

docs/source/conf.py

@@ -0,0 +1,271 @@
+# -*- coding: utf-8 -*-
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Cartographer documentation build configuration file, created by
+# sphinx-quickstart on Fri Jul  8 10:41:33 2016.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys
+import os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.todo',
+    'sphinx.ext.mathjax',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'Cartographer ROS for TurtleBots'
+copyright = u'2016 The Cartographer Authors'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '1.0.0'
+# The full version, including alpha/beta/rc tags.
+release = '1.0.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = []
+
+# The reST default role (used for this markup: `text`) to use for all
+# documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# If true, keep warnings as "system message" paragraphs in the built documents.
+#keep_warnings = False
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Add any extra paths that contain custom files (such as robots.txt or
+# .htaccess) here, relative to this directory. These files are copied
+# directly to the root of the documentation.
+#html_extra_path = []
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'CartographerROSdoc'
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    ('index', 'CartographerROS.tex', u'Cartographer ROS for TurtleBots Documentation',
+     u'The Cartographer Authors', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    ('index', 'cartographer', u'Cartographer ROS for TurtleBots Documentation',
+     [u'The Cartographer Authors'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    ('index', 'CartographerTurtlebot', u'Cartographer ROS for TurtleBots Documentation',
+     u'The Cartographer Authors', 'Cartographer ROS for TurtleBots',
+     'Provides ROS integration for Cartographer.', 'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+# If true, do not generate a @detailmenu in the "Top" node's menu.
+#texinfo_no_detailmenu = False

docs/source/index.rst

@@ -0,0 +1,85 @@
+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+===============================
+Cartographer ROS for TurtleBots
+===============================
+
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+
+`Cartographer`_ is a system that provides real-time simultaneous localization
+and mapping `SLAM`_ across multiple platforms and sensor configurations. This
+repository provides Cartographer SLAM for `TurtleBots`_ via
+`Cartographer ROS`_.
+
+.. _Cartographer: https://github.com/googlecartographer/cartographer
+.. _Cartographer ROS: https://github.com/googlecartographer/cartographer_ros
+.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+.. _TurtleBots: http://www.turtlebot.com/
+
+Building & Installation
+=======================
+
+Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may
+also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend using
+`wstool <http://wiki.ros.org/wstool>`_ and
+`rosdep <http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend
+using `Ninja <https://ninja-build.org>`_.
+
+  .. code-block:: bash
+
+    # Install wstool and rosdep.
+    sudo apt-get update
+    sudo apt-get install -y python-wstool python-rosdep ninja-build
+
+    # Create a new workspace in 'catkin_ws'.
+    mkdir catkin_ws
+    cd catkin_ws
+    wstool init
+
+    # Merge the cartographer_ros rosinstall file and fetch code for dependencies.
+    wstool merge https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
+    wstool update
+
+    # Install deb dependencies.
+    rosdep update
+    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+    # Build and install.
+    catkin_make_isolated --install --use-ninja
+    source install_isolated/setup.bash
+
+Running the demo
+================
+
+Now that Cartographer, Cartographer ROS, and Cartographer ROS's TurtleBot
+integration are installed, download the example bag to a known location, in
+this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
+
+  .. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag
+
+    # Launch the 2D LIDAR demo.
+    roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
+
+    # Launch the 2D depth camera demo.
+    roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
+
+    # Launch the 3D depth camera demo.
+    roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
+
+The launch files will bring up ``roscore`` and ``rviz`` automatically.