added docs

.github/workflows/ci.yml

@@ -0,0 +1,23 @@
+name: ci 
+on:
+  push:
+    branches:
+      - master 
+      - main
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.x
+      - uses: actions/cache@v2
+        with:
+          key: ${{ github.ref }}
+          path: .cache
+      - run: pip install mkdocs-material
+      - run: pip install pillow cairosvg
+      - run: mkdocs gh-deploy --force

docs/General ROS 2/Building ROS2 packages.md

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+# Setting up VSCode
+first install vscode using snap
+```bash
+sudo snap install code --classic
+```
+then add the `ROS` extension from Microsoft.
+
+
+# Setting up the ROS2 Package Workspace
+first create the folder for the package usual it is called `packagename_ws`where `_ws` stands for then you enter the directory and create another directory called `src` then run the `colcon build` command.
+```bash
+colcon build
+```
+next go into the `install` folder and add the `setup.bash` source command to your `~/.bashrc`
+```bash
+...
+source /home/username/package_ws/install/setup.bash
+```
+
+
+
+## Creating a Python Packages
+#### Setting Up
+Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
+```bash
+ros2 pkg create {package_name} --build-type ament_python --dependencies rclpy
+```
+
+add your code in to the folder with the `__init__.py`. This is usually in the folder `src/{package_name}/{package_name}`
+
+#### Programming
+create a python file for your first node.
+`my_first_node.py`
+```python
+#!/usr/bin/env python
+import rclpy
+from rclpy.node import Node
+
+
+class MyNode(Node):
+
+    def __init__(self):
+        super().__init__('first_node')
+        self.get_logger().info('Hello from ROS2')
+
+
+def main (args=None):
+    rclpy.init(args=args)
+    node = MyNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+```
+
+Now add it to the setup.py file in the `entry_points` section.
+
+it is setup with the name of the ROS2 command first then the equals followed by the package name, python file name that is in the same folder as the `__init__.py`, and finally the function name to call, usual `main`.
+```python
+    entry_points={
+        'console_scripts': [
+            "test_node = husky_test.my_first_node:main"
+        ],
+    },
+```
+
+The final step is building the script and testing it.
+
+#### Building
+go the the `{package_name}_ws` folder with the `src` and `install` folder in it. Then run the `colcon build` command.
+```bash
+colcon build
+```
+
+next run the `source ~/.bashrc` command to reload the workspace source file and the other source files.
+
+#### Simplifying Build (specific to python)
+since we are using python and it is interpreted we can simplify the build process when working buy using the symlink command to avoid building.
+```bash
+colcon build --symlink-install
+```
+
+then just like before run the `source ~/.bashrc` command to refresh everything and after that you will never have to worry about building or refreshing again.
+
+
+
+## Creating a C++ Packages
+Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
+```bash
+ros2 pkg create {package_name} --build-type ament_cmake
+```
+

docs/General ROS 2/Debuging.md

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+
+Get a map of the nodes on the ros network
+```bash
+ros2 run rqt_graph rqt_graph
+```
+
+
+

docs/Husky 200/Simulator.md

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+launching simulator
+```bash
+ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath
+```
+
+
+## Using Manipulator
+robot.yaml
+```yaml
+serial_number: a200-0000
+version: 0
+system:
+  hosts:
+    - hostname: cpr-a200-0000
+      ip: 192.168.131.1
+  ros2:
+    namespace: a200_0000
+platform:
+  attachments:
+    - name: front_bumper
+      type: a200.bumper
+      parent: front_bumper_mount
+    - name: rear_bumper
+      type: a200.bumper
+      parent: rear_bumper_mount
+    - name: top_plate
+      type: a200.top_plate
+manipulators:
+  arms:
+    - model: kinova_gen3_lite
+      parent: top_plate_default_mount
+      xyz: [0.0, 0.0, 0.0]
+      rpy: [0.0, 0.0, 0.0]
+      ip: 192.168.131.40
+      port: 10000
+      gripper:
+        model: kinova_2f_lite
+```
+
+Launch the simulation
+```
+ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath
+```
+
+Launch MoveIt! by passing the same robot setup directory and setting the simulation flag.
+```
+ros2 launch clearpath_manipulators moveit.launch.py setup_path:=$HOME/clearpath use_sim_time:=true
+```
+
+Launch RViz by passing the robot's namespace and enabling the simulation flag.
+```
+ros2 launch clearpath_viz view_moveit.launch.py namespace:=a200_0000 use_sim_time:=True
+```
+
+
+

docs/Husky 200/Visualizing robot.yaml.md

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+```bash
+ros2 launch clearpath_viz view_model.launch.py setup_path:=/home/brickman/clearpath/
+```

docs/TurtleBot 4/Oak D Pro Camera.md

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+The Oak d Pro Camera is an 3d depth camera with integrated NPU for advance AI processing. It is equipped with three cameras two gray scale for the right and left stereo camera and on center camera for color and AI inference. It comes with yolo-v6, yolo-v8, face detector, and an model that detects your gender and age. For more information on how to use it go to [docs.luxonis.com](https://docs.luxonis.com/).

docs/TurtleBot 4/SLAM and Navigation.md

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+# SLAM
+### Troubleshooting
+#### Date and Time off
+one of the major problems with the Turtlebot 4 and communication is the time. Make sure you use the `date` command and check what time it is. If the time is off use `rasp-config` to set the correct timezone. The standard Turtlebot 4 image does not have rasp-config install so you will probably have to install it with `sudo apt install rasp-config`.
+
+#### The map keeps getting all messed up
+try driving slower and not using the R1 shoulder button that puts the turtlebot in high speed.
+
+#### The controller keeps disconnecting
+Try pairing the controller to the computer so that you do not have to stay by the robot as it drives and maps. To pair the controller to the computer and drive it install the joy node.
+```bash
+sudo apt install ros-humble-turtlebot4-bringup
+```
+Then pair the controller to the computer like normal. Once the controller is paired start the node by running this command.
+```bash
+ros2 launch turtlebot4_bringup joy_teleop.launch.py namespace:=/
+```
+Once this command is running then you should be able to drive the robot like normal
+
+
+### Launching the SLAM command
+Here is the `slam.yaml` config file. You can change the resolution by changing the resolution parameter, by default it is 0.05 but i have had great success when running synchronous SLAM with values as low as 0.01.
+```yaml
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_link
+    scan_topic: scan
+    mode: mapping
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 0.5
+    resolution: 0.01 # This is were you can ajust the resolution of the lidar scan
+    max_laser_range: 12.0 #for rastering images
+    minimum_time_interval: 0.25
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.0
+    minimum_travel_heading: 0.0
+    scan_buffer_size: 20
+    scan_buffer_maximum_scan_distance: 12.0
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true
+    loop_match_minimum_chain_size: 10
+    loop_match_maximum_variance_coarse: 3.0
+    loop_match_minimum_response_coarse: 0.35
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5
+    angle_variance_penalty: 1.0
+
+    fine_search_angle_offset: 0.00349
+    coarse_search_angle_offset: 0.349
+    coarse_angle_resolution: 0.0349
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true
+```
+
+To start the SLAM node using this command on the remote PC. If this command is run on the Turtlebot 4 you will have a smother experience and will not have as much trouble with connecting but this will limit your resolution because the raspberry pi 4 will have to do all the calculations.
+```
+ros2 launch turtlebot4_navigation slam.launch.py params:=/full/path/to/slam.yaml
+```
+To visualize the map run Rviz on the remote PC.
+```bash
+ros2 launch turtlebot4_viz view_robot.launch.py
+```
+
+Once you are done creating the map make sure you save it.
+```bash
+
+```
+
+
+#### Navigation
+To launch the navigation program on the Turtlebot 4 run the following commands. One per terminal window making sure to execute them on the Remote PC.
+```bash
+# Terminal Window 1
+ros2 launch turtlebot4_navigation localization.launch.py map:/path/to/map.yaml
+
+# Terminal Window 2
+ros2 launch turtlebot4_navigation nav2.launch.py
+
+# Terminal Window 3
+ros2 launch turtlebot4_viz view_robot.launch.py
+```
+
+Use the `2D Pose Estimate` to select the spot on the map were the robot is at when the Navigation is launched. Then use the `Nav2 Goal` button to select where the robot should navigate to.

docs/TurtleBot 4/Setup.md

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+Follow these [steps](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html)on the ROS 2 Documentation Page in install ROS2 on your Remote PC, laptop. Then follow these [steps](https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html) in the official Turtlebot 4 documentation to install all the Turtlebot 4 programs on your Remote PC, laptop. 
+
+###### Quick Tip
+add the `source /opt/ros/humble/setup.bash` command to the `.bashrc` file so you do not have to source it everytime you open a new terminal window
+```bash
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+```
+
+Once everything is install follow the instructions to connect the Turtle bot to the wifi. The WIFI password for the turtlebot access point is `Turtlebot4` and the ssh password is `turtlebot4`. To change the settings on the Create 3 go to the Turtlebot's ip address with the port `8080` and you will see the web interface. 

docs/TurtleBot 4/Turtlebot 4 Action Commands.md

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+## Undock
+This command undocks the Turtlebot 4 from the charging station.
+```bash
+ros2 action send_goal /undock irobot_create_msgs/action/Undock {}
+```
+## Dock
+This command docks the Turtlebot 4 from the charging station.
+```bash
+ros2 action send_goal /dock irobot_create_msgs/action/Dock {}
+```

docs/TurtleBot 4/Updating ROS on Turtlebot 4.md

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+## Create 3 Firmware
+To install he latest version of the Create 3  firmware go to the [Create 3 firmware Page](https://iroboteducation.github.io/create3_docs/releases/overview/). Then download the latest firmware and navigate to the Create 3 Update Page. Then select the choose file button and locate the `Create3-*.*.*.swu`file on your computer. Finally before flashing make sure the Create 3 is on the charging dock. Once it is on the dock click flash button and wait patently for the robot to flash and then reboot. DO NOT SHUT DOWN OR REMOVE FROM CHARGER. You will know it is done when the robot makes is happy beep.
+
+## Raspberry PI
+To update the Raspberry pi download the raspberry pi image and take the sdcard out of the Turtlebot. Then download the latest `.img` from the [Open Source Lab](http://download.ros.org/downloads/turtlebot4/). Once it is downloaded unzip the image and Flash it using the Raspberry PI Imager.

docs/TurtleBot 4/Viewing Turtlebot 4 Sensor Data.md

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+Viewing the Turtlebot 4 sensor data is really easy with Rviz. to view it run the Rviz view model command.
+
+```bash
+ros2 launch turtlebot4_viz view_model.launch.py
+```

docs/index.md

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+# Homepage
+
+For full documentation visit [mkdocs.org](https://www.mkdocs.org).
+
+## Code Annotation Examples
+
+### Codeblocks
+
+Some `code` goes here.
+
+### Plain codeblock
+
+A plain codeblock:
+
+```
+Some code here
+def myfunction()
+// some comment
+```
+
+#### Code for a specific language
+
+Some more code with the `py` at the start:
+
+``` py
+import tensorflow as tf
+def whatever()
+```
+
+#### With a title
+
+``` py title="bubble_sort.py"
+def bubble_sort(items):
+    for i in range(len(items)):
+        for j in range(len(items) - 1 - i):
+            if items[j] > items[j + 1]:
+                items[j], items[j + 1] = items[j + 1], items[j]
+```
+asdkfaj;sldkf
+
+
+#### With line numbers
+
+```py linenums="1"
+def bubble_sort(items):
+    for i in range(len(items)):
+        for j in range(len(items) - 1 - i):
+            if items[j] > items[j + 1]:
+                items[j], items[j + 1] = items[j + 1], items[j]
+```
+
+#### Highlighting lines
+
+```py hl_lines="2 3"
+def bubble_sort(items):
+    for i in range(len(items)):
+        for j in range(len(items) - 1 - i):
+            if items[j] > items[j + 1]:
+                items[j], items[j + 1] = items[j + 1], items[j]
+```
+
+## Icons and Emojs
+
+:smile: 
+
+:fontawesome-regular-face-laugh-wink:
+
+:fontawesome-brands-twitter:{ .twitter }
+
+:octicons-heart-fill-24:{ .heart }

mkdocs.yml

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+site_name: ROS2 Rhodesstate
+theme:
+  name: material
+  features:
+    - navigation.tabs
+    - navigation.sections
+    - toc.integrate
+    - navigation.top
+    - search.suggest
+    - search.highlight
+    - content.tabs.link
+    - content.code.annotation
+    - content.code.copy
+    - content.code.select
+  language: en
+  palette:
+    - scheme: default
+      toggle:
+        icon: material/toggle-switch-off-outline 
+        name: Switch to dark mode
+      primary: teal
+      accent: purple 
+    - scheme: slate 
+      toggle:
+        icon: material/toggle-switch
+        name: Switch to light mode    
+      primary: teal
+      accent: lime
+
+plugins:
+  - social
+  - search
+
+extra:
+  social:
+    - icon: fontawesome/brands/github-alt
+      link: https://github.com/thelocker98
+    - icon: fontawesome/brands/gitlab
+      link: https://gitea.locker98.com
+
+  markdown_extensions:
+    - pymdownx.highlight:
+        anchor_linenums: true
+        line_spans: __span
+        pygments_langclass: true
+    - pymdownx.inlinehilite
+    - pymdownx.snippets
+    - admonition
+    - pymdownx.arithmatex:
+        generic: true
+    - footnotes
+    - pymdownx.details
+    - pymdownx.superfences
+    - pymdownx.mark
+    - attr_list
+    - pymdownx.emoji:
+        emoji_index: !!python/name:materialx.emoji.twemoji
+        emoji_generator: !!python/name:materialx.emoji.to_svg
+
+  copyright: |
+    &copy; 2023 <a href="https://github.com/thelocker98"  target="_blank" rel="noopener">locker98</a>