Adding Demos, Getting-Started, Simulation Assets and RTEMS

source/Demos/Canadarm.rst

@@ -1,7 +1,10 @@
+###############################
 Canadarm Demo
-=============
+###############################
 
-TODO:
 
-Describe how to run the Canadarm demo.
-This may be simply a link to the demo repo that provides the instructions.
+Run
+=============
+```
+$ ros2 launch canadarm canadarm.launch.py
+```

source/Demos/Mars-Rover.rst

@@ -1,7 +1,82 @@
+#############################
 Mars Rover Demo
+#############################
+
+The Mars Rover demo is a part of the Space ROS Space Robots Demos. This demo depends on the docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image.
+Running the Demos
+===============
+Launch the demo:
+```
+$ ros2 launch mars_rover mars_rover.launch.py
+```
+
+On the top left corner, click on the refresh button to show camera feed.
+
+Perform Tasks
+===============
+
+Open a new terminal and attach to the currently running container:
+
+```
+$ docker exec -it <container-name> bash
+```
+
+Make sure packages are sourced:
+
+```
+$ source ~/spaceros/install/setup.bash
+```
+
+```
+$ source ~/demos_ws/install/setup.bash
+```
+
+Available Commands
 ===============
+Drive the rover forward
+
+```
+$ ros2 service call /move_forward std_srvs/srv/Empty
+```
+
+Stop the rover
+
+```
+$ ros2 service call /move_stop std_srvs/srv/Empty
+```
+
+Turn left
+
+```
+$ ros2 service call /turn_left std_srvs/srv/Empty
+```
+
+Turn right
+
+```
+$ ros2 service call /turn_right std_srvs/srv/Empty
+```
+
+Open the tool arm:
+
+```
+$ ros2 service call /open_arm std_srvs/srv/Empty
+```
+
+Close the tool arm:
+
+```
+$ ros2 service call /close_arm std_srvs/srv/Empty
+```
+
+Open the mast (camera arm)
+
+```
+$ ros2 service call /mast_open std_srvs/srv/Empty
+```
 
-TODO:
+Close the mast (camera arm)
 
-Describe how to run the Mars rover demo.
-This may be simply a link to the demo repo that provides the instructions
+```
+$ ros2 service call /mast_close std_srvs/srv/Empty
+```

source/Getting-Started/Building-From-Source.rst

@@ -1,6 +1,125 @@
 Building Space ROS from Source
 ==============================
 
-TODO:
+To use Space ROS in your project, you can build it by:
+- Directly cloning the [ROS 2 fork repository](https://github.com/space-ros/space-ros
+) and importing packages from the repos file.
+- Setting up a Dockerized environment (recommended). 
+
+Space ROS Fork
+===========================
+
+
+
+
+Space ROS Docker Image and Earthly configuration
+===========================
+
+The Earthfile configuration in this directory facilitates builds of Space ROS from source code.
+The generated container image is based on Ubuntu 22.04 (Jammy) and can be used with [`rocker`](https://github.com/osrf/rocker) to add X11 and GPU passthrough.
+
+## Building the Docker Image
+
+The [Earthly](https://earthly.dev/get-earthly) utility is required to build this image.
+
+To build the image, run:
+
+```
+$ ./build.sh
+```
+
+The build process will take about 20 or 30 minutes, depending on the host computer.
+
+## Running the Space ROS Docker Image in a Container
+
+After building the image, you can see the newly-built image by running:
+
+```
+$ docker image list
+```
+
+The output will look something like this:
+
+```
+$ docker image list
+REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
+osrf/space-ros        latest                     109ad8fb7460   4 days ago      2.45GB
+ubuntu                jammy                      a8780b506fa4   5 days ago      77.8MB
+```
+
+The new image is named **osrf/space-ros:latest**.
+
+There is a run.sh script provided for convenience that will run the spaceros image in a container.
+
+```
+$ ./run.sh
+```
+
+Upon startup, the container automatically runs the entrypoint.sh script, which sources the Space ROS environment file (setup.bash). You'll now be running inside the container and should see a prompt similar to this:
+
+```
+spaceros-user@d10d85c68f0e:~/spaceros$
+```
+
+At this point, you can run the 'ros2' command line utility to make sure everything is working OK:
+
+```
+spaceros-user@d10d85c68f0e:~/spaceros$ ros2
+usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...
+
+ros2 is an extensible command-line tool for ROS 2.
+
+optional arguments:
+  -h, --help            show this help message and exit
+  --use-python-default-buffering
+                        Do not force line buffering in stdout and instead use the python default buffering, which might be affected by PYTHONUNBUFFERED/-u and depends on whatever stdout is interactive or not
+
+Commands:
+  action     Various action related sub-commands
+  component  Various component related sub-commands
+  daemon     Various daemon related sub-commands
+  doctor     Check ROS setup and other potential issues
+  interface  Show information about ROS interfaces
+  launch     Run a launch file
+  lifecycle  Various lifecycle related sub-commands
+  multicast  Various multicast related sub-commands
+  node       Various node related sub-commands
+  param      Various param related sub-commands
+  pkg        Various package related sub-commands
+  run        Run a package specific executable
+  service    Various service related sub-commands
+  topic      Various topic related sub-commands
+  trace      Trace ROS nodes to get information on their execution
+  wtf        Use `wtf` as alias to `doctor`
+
+  Call `ros2 <command> -h` for more detailed usage.
+```
+
+Connecting Another Terminal to a Running Docker Container
+===========================
+
+Sometimes it may be convenient to attach additional terminals to a running Docker container.
+
+With the Space ROS Docker container running, open a second host terminal and then run the following command to determine the container ID:
+
+```
+$ docker container list
+```
+
+The output will look something like this:
+
+```
+CONTAINER ID   IMAGE                   COMMAND                  CREATED          STATUS          PORTS     NAMES
+d10d85c68f0e   openrobotics/spaceros   "/entrypoint.sh …"   28 minutes ago   Up 28 minutes             inspiring_moser
+```
+
+The container ID in this case, is *d10d85c68f0e*. So, run the following command in the host terminal:
+
+```
+docker exec -it d10d85c68f0e /bin/bash --init-file "install/setup.bash"
+```
+
+You will then be at a prompt in the same running container.
+
+In place of the container ID, you can also use the automatically-generated container name ("inspiring_moser" in this case).
 
-Describe how to build Space ROS from source code (presumably using Earthly).

source/Getting-Started/Docker-Images.rst

@@ -1,9 +1,28 @@
+###############################
 The Space ROS Docker Images
-===========================
+###############################
 
-TODO:
 
 Describe how to use the Space ROS docker image from Docker Hub, and any other images published to Docker Hub.
 
 * Docker Hub
 * Base image, MoveIt2, demos, etc.
+
+
+The Space ROS project provides a layered configuration of Docker containers to build different functionalities on top.
+
+Overview
+
+The base layer is the `spaceros` docker image, see [] to build it.
+
+
+
+Next steps
+===========================
+
+
+
+
+Related Content
+===========================
+Tutorial earthly

source/How-To-Guides/Use-Simulation-Assets.rst

@@ -1,7 +1,7 @@
+###############################
 Using Space-Related Simulation Assets
-=====================================
-
-TODO:
+###############################
 
-How to use the provided simulation assets in a new project.
 
+How to use the provided simulation assets in a new project?
+=====================================