diff --git a/doc/img/fri_dependency_architecture.svg b/doc/img/fri_dependency_architecture.svg new file mode 100644 index 0000000..86fc44e --- /dev/null +++ b/doc/img/fri_dependency_architecture.svg @@ -0,0 +1,4 @@ + + + +
fri
FRI CMake target with branches corresponding to versions
External CMake Project
pyfri
FRI Python bindings
vcstool
vcstool
lbr_fri_ros2_stack
ROS 2 integration: ros2_control, MoveIt 2, Gazebo
lbr_fri_idl
Versioned IDL messages as these depend on the FRI version
 \ No newline at end of file diff --git a/doc/source/changelog.rst b/doc/source/changelog.rst new file mode 100644 index 0000000..4bd76bb --- /dev/null +++ b/doc/source/changelog.rst @@ -0,0 +1,6 @@ +Changelog +========= +Changelog for the corresponding packages: + +- ``lbr_fri_ros2_stack``: `Changelog `_:octicon:`link-external` +- ``pyfri``: `Changlelog `_:octicon:`link-external` diff --git a/doc/source/index.rst b/doc/source/index.rst index 134d174..e5d2bf5 100644 --- a/doc/source/index.rst +++ b/doc/source/index.rst @@ -1,14 +1,29 @@ -.. lbr_fri_ros2_stack documentation master file, created by - sphinx-quickstart on Mon Apr 24 11:26:22 2023. - You can adapt this file completely to your liking, but it should at least - contain the root `toctree` directive. +LBR-Stack +========= +The ``LBR-Stack`` hosts community contributed extensions to KUKA's Fast Robot Interface (FRI) for accelerated research and deployment. The FRI is KUKA's library for commanding the ``LBR`` over a UDP connection. -.. include:: lbr_fri_ros2_stack/README.md - :parser: myst_parser.sphinx_ +The ``LBR-Stack`` provides ``CMake`` support for the FRI. This is further used for ``ROS 2`` integration and ``Python`` bindings, as shown :ref:`below `: + +.. _lbr_stack fri dependency architecture figure: +.. thumbnail:: ../img/fri_dependency_architecture.svg + :alt: fri_dependency_architecture + +Further documentation is available for: + +* `FRI CMake Support `_: To see available FRI versions. +* `ROS 2 Integration `_: ROS 2 packages around the FRI and the LBR (simulation, system integration, safe execution utilities, research, deployment). +* `Python Bindings `_: Write custom FRI applications without compilation (reserach, experienced users). +* :doc:`Hardware Setup `: Java application installation instructions. + +.. toctree:: + :hidden: + :caption: FRI CMake Support + + fri .. toctree:: :hidden: - :caption: Packages + :caption: ROS 2 Integration lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack lbr_fri_ros2_stack/lbr_bringup/doc/lbr_bringup @@ -18,7 +33,12 @@ lbr_fri_ros2_stack/docker/doc/docker lbr_fri_ros2_stack/lbr_moveit_config/doc/lbr_moveit_config lbr_fri_idl - fri + +.. toctree:: + :hidden: + :caption: Python Bindings + + pyfri/doc/pyfri .. toctree:: :hidden: @@ -34,5 +54,5 @@ docs/kuka_documentation Paper contributing - Source Code - Changelog + source_code + changelog diff --git a/doc/source/source_code.rst b/doc/source/source_code.rst new file mode 100644 index 0000000..c859bb2 --- /dev/null +++ b/doc/source/source_code.rst @@ -0,0 +1,8 @@ +Source Code +=========== +Source code for the corresponding packages: + +- ``fri``: `Source code `_:octicon:`link-external` +- ``lbr_fri_ros2_stack``: `Source code `_:octicon:`link-external` +- ``lbr_fri_idl``: `Source code `_:octicon:`link-external` +- ``pyfri``: `Source code `_:octicon:`link-external` diff --git a/paper/img/fri_dependency_architecture.pdf b/paper/img/fri_dependency_architecture.pdf index 41d0ed0..41743b0 100644 Binary files a/paper/img/fri_dependency_architecture.pdf and b/paper/img/fri_dependency_architecture.pdf differ