diff --git a/sphinx_doc/howtos/build_instructions/build_docs/build_troubleshooting_guide.rst b/sphinx_doc/build_instructions/build_docs/build_troubleshooting_guide.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/build_troubleshooting_guide.rst
rename to sphinx_doc/build_instructions/build_docs/build_troubleshooting_guide.rst
diff --git a/sphinx_doc/howtos/doxygen/index.rst b/sphinx_doc/build_instructions/build_docs/doxygen.rst
similarity index 87%
rename from sphinx_doc/howtos/doxygen/index.rst
rename to sphinx_doc/build_instructions/build_docs/doxygen.rst
index 8e51301cbfca286adb7b9f2f155a9b4f9f5fa4a1..8a980a2913c1bf30e4700aa01533aa33a852e8c7 100644
--- a/sphinx_doc/howtos/doxygen/index.rst
+++ b/sphinx_doc/build_instructions/build_docs/doxygen.rst
@@ -1,4 +1,4 @@
-.. _doxygen_howtos:
+.. _doxygen_build_instructions:
Generate Doxygen
################
diff --git a/sphinx_doc/howtos/build_instructions/build_docs/manual_build/docker.rst b/sphinx_doc/build_instructions/build_docs/manual_build/docker.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/manual_build/docker.rst
rename to sphinx_doc/build_instructions/build_docs/manual_build/docker.rst
diff --git a/sphinx_doc/howtos/build_instructions/build_docs/manual_build/master_build.rst b/sphinx_doc/build_instructions/build_docs/manual_build/master_build.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/manual_build/master_build.rst
rename to sphinx_doc/build_instructions/build_docs/manual_build/master_build.rst
diff --git a/sphinx_doc/howtos/build_instructions/build_docs/manual_build/specific_distro_build.rst b/sphinx_doc/build_instructions/build_docs/manual_build/specific_distro_build.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/manual_build/specific_distro_build.rst
rename to sphinx_doc/build_instructions/build_docs/manual_build/specific_distro_build.rst
diff --git a/sphinx_doc/howtos/build_instructions/build_docs/quick_start.rst b/sphinx_doc/build_instructions/build_docs/quick_start.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/quick_start.rst
rename to sphinx_doc/build_instructions/build_docs/quick_start.rst
diff --git a/sphinx_doc/howtos/build_instructions/build_docs/use_case_recommendations.rst b/sphinx_doc/build_instructions/build_docs/use_case_recommendations.rst
similarity index 100%
rename from sphinx_doc/howtos/build_instructions/build_docs/use_case_recommendations.rst
rename to sphinx_doc/build_instructions/build_docs/use_case_recommendations.rst
diff --git a/sphinx_doc/howtos/build_instructions/index.rst b/sphinx_doc/build_instructions/index.rst
similarity index 52%
rename from sphinx_doc/howtos/build_instructions/index.rst
rename to sphinx_doc/build_instructions/index.rst
index 29746801b8efb248a5db80713403570f7057c19b..724158573577657b5d74323aef6e2bc4787fe1dc 100644
--- a/sphinx_doc/howtos/build_instructions/index.rst
+++ b/sphinx_doc/build_instructions/index.rst
@@ -3,24 +3,19 @@
Build Instructions
##################
-The instructions to build **Navigation2 Stack** and **Navigation2 Dependencies**.
+The instructions to build **Navigation 2** and **Navigation 2 Dependencies**.
**Build Options**
-There are two different recommended methods for building Navigation2 stack from source.
-
-1- Manually Build From Source : Manual step by step method to build Navigation2
+1- Manually Build From Source: Manual step by step method to build Navigation2
- :ref:`master-build`
- :ref:`specific-distro-build`
-2- Quickstart Using Initial Setup Script : An automated method to build Navigation2 in a simple and easy way.
+2- Quickstart Using Initial Setup Script: An automated method to build Navigation2 in a simple and easy way.
- :ref:`quick-start`
-!!!!
-
-**Recommended Platform**
-
-* `Ubuntu 18.04 <http://releases.ubuntu.com/18.04/ubuntu-18.04.3-desktop-amd64.iso>`_
+3- Docker Containers
+ - :ref:`docker`
!!!!
@@ -35,7 +30,7 @@ There are two different recommended methods for building Navigation2 stack from
build_docs/manual_build/master_build.rst
build_docs/manual_build/specific_distro_build.rst
- build_docs/manual_build/docker.rst
build_docs/quick_start.rst
+ build_docs/manual_build/docker.rst
build_docs/use_case_recommendations
build_docs/build_troubleshooting_guide.rst
diff --git a/sphinx_doc/howtos/configuration/configuring-the-controller.rst b/sphinx_doc/configuration/configuring-the-controller.rst
similarity index 100%
rename from sphinx_doc/howtos/configuration/configuring-the-controller.rst
rename to sphinx_doc/configuration/configuring-the-controller.rst
diff --git a/sphinx_doc/howtos/configuration/dwb-plugins/goal-checkers.rst b/sphinx_doc/configuration/dwb-plugins/goal-checkers.rst
similarity index 100%
rename from sphinx_doc/howtos/configuration/dwb-plugins/goal-checkers.rst
rename to sphinx_doc/configuration/dwb-plugins/goal-checkers.rst
diff --git a/sphinx_doc/howtos/configuration/dwb-plugins/trajectory-critics.rst b/sphinx_doc/configuration/dwb-plugins/trajectory-critics.rst
similarity index 100%
rename from sphinx_doc/howtos/configuration/dwb-plugins/trajectory-critics.rst
rename to sphinx_doc/configuration/dwb-plugins/trajectory-critics.rst
diff --git a/sphinx_doc/howtos/configuration/dwb-plugins/trajectory-generators.rst b/sphinx_doc/configuration/dwb-plugins/trajectory-generators.rst
similarity index 100%
rename from sphinx_doc/howtos/configuration/dwb-plugins/trajectory-generators.rst
rename to sphinx_doc/configuration/dwb-plugins/trajectory-generators.rst
diff --git a/sphinx_doc/howtos/configuration/index.rst b/sphinx_doc/configuration/index.rst
similarity index 92%
rename from sphinx_doc/howtos/configuration/index.rst
rename to sphinx_doc/configuration/index.rst
index 8a7837036dff8ed51591e0e0f26908d8e6ba1996..0cbd9ae643ceb616eba827a31d2a48f19ef0da67 100644
--- a/sphinx_doc/howtos/configuration/index.rst
+++ b/sphinx_doc/configuration/index.rst
@@ -1,4 +1,4 @@
-.. _docs_configuration:
+.. _configuration:
Configuration Guidelines
########################
diff --git a/sphinx_doc/howtos/configuration/params/tunable-params.rst b/sphinx_doc/configuration/params/tunable-params.rst
similarity index 100%
rename from sphinx_doc/howtos/configuration/params/tunable-params.rst
rename to sphinx_doc/configuration/params/tunable-params.rst
diff --git a/sphinx_doc/contribute/index.rst b/sphinx_doc/contribute/index.rst
index 196e9f09cde2409533df3e3d5ddaf2653c5bcc53..8c0da7f0df1c4c29a865973406f3d5ab873c3629 100644
--- a/sphinx_doc/contribute/index.rst
+++ b/sphinx_doc/contribute/index.rst
@@ -6,6 +6,9 @@ Contributing to the Project
As an open-source project, we welcome and encourage the community to submit
patches for code, documentation, tests, and more, directly to the project.
+We have a set of contribution guidelines and documentation guidelines.
+You can see the them in the pages below.
+
.. toctree::
:maxdepth: 1
diff --git a/sphinx_doc/tutorials/docs/images/Navigation2_with_Turtlebot3_in_Gazebo/navigation_with_recovery_behaviours.gif b/sphinx_doc/getting_started/images/navigation_with_recovery_behaviours.gif
similarity index 100%
rename from sphinx_doc/tutorials/docs/images/Navigation2_with_Turtlebot3_in_Gazebo/navigation_with_recovery_behaviours.gif
rename to sphinx_doc/getting_started/images/navigation_with_recovery_behaviours.gif
diff --git a/sphinx_doc/getting_started/index.rst b/sphinx_doc/getting_started/index.rst
index bd1c24dd5aa52d79395a01227d74088c02d77009..b8c4d62e4435a32b323c721a99f41e4e689bd04b 100644
--- a/sphinx_doc/getting_started/index.rst
+++ b/sphinx_doc/getting_started/index.rst
@@ -5,13 +5,11 @@ Getting Started
This document will take you through the process of installing the |PN| binaries
and navigating a simulated Turtlebot 3 in the Gazebo simulator. We'll use the
-|Distro| version of ROS 2, since it is the latest stable version at the time
-this was written. The instructions are written primarily for Ubuntu 18, using
-the standard installation options.
+|Distro| version of ROS 2 and Ubuntu 18 for the standard installation options.
.. note::
- See the :ref:`howtos` for other situations such as building from source or
+ See the :ref:`build-instructions` for other situations such as building from source or
working with other types of robots.
.. warning::
@@ -24,15 +22,14 @@ Installation
************
1. Install the `ROS 2 binary packages`_ as described in the official docs
-2. Install the |PN| packages using your operating system's package manager. For
- Ubuntu 18, do this:
+2. Install the |PN| packages using your operating system's package manager:
.. code-block:: bash
sudo apt install ros-dashing-navigation2
sudo apt install ros-dashing-nav2-bringup
-3. Install the Turtlebot 3 packages. Again, for Ubuntu 18, it looks like this:
+3. Install the Turtlebot 3 packages:
.. code-block:: bash
@@ -42,7 +39,7 @@ Running the Example
*******************
1. Start a terminal in your GUI
-2. Set key environment variables. Here's how to do it in Ubuntu.
+2. Set key environment variables:
.. code-block:: bash
@@ -56,6 +53,10 @@ Running the Example
ros2 launch nav2_bringup nav2_simulation_launch.py
+ This launch file will launch Navigation2 with the AMCL localizer in the
+ ``turtlebot3_world`` world.
+ It will also launch a the robot state publisher to provide transforms,
+ a Gazebo instance with the Turtlebot3 URDF, and RVIZ.
If everything has started correctly, you will see the RViz and Gazebo GUIs like
this.
@@ -64,8 +65,7 @@ Running the Example
:scale: 50%
:alt: Initial appearance of RViz before hitting startup button
- Initial appearance of RViz before hitting startup button. Nothing is
- displayed at this point because |PN| is still in the unconfigured state
+ Initial appearance of RViz before hitting startup button, in unconfigured state.
.. figure:: /images/gazebo/gazebo_turtlebot1.png
:scale: 50%
@@ -74,7 +74,7 @@ Running the Example
Initial appearance of Gazebo with Turtlebot 3 world
4. Click the "Startup" button in the bottom left corner of RViz. This will
- cause |PN| to change to the Active lifecycle state. It should
+ cause |PN| to change to the Active state. It should
change appearance to show the map.
.. figure:: /images/rviz/rviz_initial.png
@@ -106,7 +106,8 @@ Navigating
Estimate" button and try again, if you prefer.
Once you've set the initial pose, the trasform tree will be complete and
- |PN| is fully active and ready to go.
+ |PN| is fully active and ready to go. You should see the robot and particle
+ cloud now.
.. figure:: /images/rviz/navstack-ready.png
:scale: 50%
@@ -129,3 +130,7 @@ Navigating
:alt: Turtlebot on its way to the goal.
Turtlebot on its way to the goal.
+
+.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/navigation_with_recovery_behaviours.gif
+ :height: 640px
+ :alt: Navigation2 with Turtlebot 3 Demo
diff --git a/sphinx_doc/howtos/docs/index.rst b/sphinx_doc/howtos/docs/index.rst
deleted file mode 100644
index 287bcff68bef89353e47e1f7e7becc6a147a93db..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/index.rst
+++ /dev/null
@@ -1,29 +0,0 @@
-.. _docs_howtos:
-
-Documentation How-Tos
-#####################
-
-This guide has everything you need to know to begin writing, building, and
-deploying technical documentation using our Git/Sphinx/Read the Docs workflow.
-Start by learning how to clone and build this template on your local system.
-
-Build Guide
-===========
-
-.. toctree::
- :maxdepth: 1
-
- process/docbuild
- process/docker-build
-
-
-.. _technical-guides:
-
-Technical Guides
-================
-
-.. toctree::
- :maxdepth: 1
- :glob:
-
- tech/*
diff --git a/sphinx_doc/howtos/docs/process/docbuild.rst b/sphinx_doc/howtos/docs/process/docbuild.rst
deleted file mode 100644
index c6b13e5062f5c2fece9bec769935f4f7f32e9c58..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/process/docbuild.rst
+++ /dev/null
@@ -1,256 +0,0 @@
-.. _doc_gen:
-
-Build the template locally
-##########################
-
-These instructions will walk you through building the |PN| on your local
-system.
-
-Documentation overview
-**********************
-
-The |PN| Project content is written using the reStructuredText markup
-language (.rst file extension) with Sphinx extensions, and processed
-using Sphinx to create a formatted stand-alone website. Developers can
-view this content either in its raw form as .rst markup files, or you
-can generate the HTML content and view it with a web browser directly on
-your workstation.
-
-You can read details about `reStructuredText`_, and `Sphinx`_ from
-their respective websites.
-
-The project's documentation contains the following items:
-
-* ReStructuredText source files used to generate documentation found at the
- `documentation site`_. All of the reStructuredText sources
- are found in the `documentation repo`_.
-
-The reStructuredText files are processed by the Sphinx documentation system,
-and make use of the breathe extension for including the doxygen-generated API
-material.
-
-Set up the documentation working folders
-****************************************
-
-You'll need git installed to get the working folders set up:
-
-* For an Ubuntu development system use:
-
- .. code-block:: bash
-
- sudo apt-get install git
-
-* For a Fedora development system use
-
- .. code-block:: bash
-
- sudo dnf install git
-
-We use github.io for publishing the generated documentation.
-Here's the recommended local folder setup for documentation contributions
-and generation:
-
-.. code-block:: none
-
- projectname/
- doc-repo/
-
-The parent folder ``projectname`` is there to make room for the
-publishing area that will come later. It's best if the ``doc-repo``
-folder is an ssh clone of your personal fork of the upstream project
-repos (though https clones work too):
-
-#. Use your browser to visit the `documentation repo`_ and make a
- fork of the repo to your personal GitHub account.
-
- .. image:: images/fork-docs.png
-
-#. Copy the clone URL of the GitHub repo:
-
- .. image:: images/copy-clone-url.png
-
-#. At a command prompt, create the working folder and clone
- the `documentation repo`_ to your local computer (and if you
- have publishing rights, the `documentation site`_). If you don't have
- publishing rights, you'll still be able to generate the docs locally, but
- not publish them:
-
- .. code-block:: bash
-
- cd ~
- mkdir project-name && cd project-name
- git clone git@github.com:<github-username>/<projectname>/<documentrepo>.git
-
-#. For the cloned local repos, tell git about the upstream repo:
-
- .. code-block:: bash
-
- cd doc-repo
- git remote add upstream git@github.com:<projectname>/<document-repo>.git
-
-#. If you haven't done so already, be sure to configure git with your name
- and email address for the signed-off-by line in your commit messages:
-
- .. code-block:: bash
-
- git config --global user.name "David Developer"
- git config --global user.email "david.developer@company.com"
-
-.. _install_doc_gen:
-
-Installing the documentation tools
-**********************************
-
-Our documentation processing has been tested to run with:
-
-* Python 3.6.3
-* Doxygen version 1.8.13
-* Sphinx version 1.7.5
-* Breathe version 4.9.1
-* docutils version 0.14
-* sphinx_rtd_theme version 0.4.0
-
-The |PN| makes use of additional Sphinx extensions used for
-creating drawings:
-
-* sphinxcontrib-plantuml
-* sphinx.ext.graphviz (included with Sphinx)
-
-.. note:: The plantuml extension uses Java to render the uml drawing
- syntax into an image. You'll need to have a Java runtime environment
- (JRE) installed when generating documentation.
-
-Depending on your Linux version, install the needed tools:
-
-* For Ubuntu use:
-
- .. code-block:: bash
-
- sudo apt-get install doxygen python3-pip python3-wheel make default-jre
-
-* For Fedora use:
-
- .. code-block:: bash
-
- sudo dnf install doxygen python3-pip python3-wheel make default-jre
-
-And for either Linux environment, install the remaining python-based
-tools:
-
-.. code-block:: bash
-
- cd ~/<projectname>/doc-repo
- pip3 install --user -r scripts/requirements.txt
-
-And with that you're ready to generate the documentation.
-
-Documentation presentation theme
-********************************
-
-Sphinx supports easy customization of the generated documentation
-appearance through the use of themes. Replace the theme files and do
-another ``make html`` and the output layout and style is changed.
-The ``read-the-docs`` theme is installed as part of the
-``requirements.txt`` list above.
-
-Running the documentation processors
-************************************
-
-The doc-repo directory has all the .rst source files, extra tools, and Makefile for
-generating a local copy of the technical documentation.
-
-.. code-block:: bash
-
- cd ~/<projectname>/doc-repo
- make html
-
-Depending on your development system, it will take about 10 seconds to
-collect and generate the HTML content. When done, you can view the HTML
-output with your browser started at ``~/<projectname>/doc-repo/_build/html/index.html``
-
-Publishing content
-******************
-
-If you have merge rights to the `documentation repo`_, you can update
-the public project.
-
-You'll need to do a one-time clone of the upstream repo (we publish
-directly to the upstream repo rather than to a personal forked copy):
-
-.. code-block:: bash
-
- cd ~/<projectname>
- git clone git@github.com:<projectname>/<documentationrepo>.git
-
-Then, after you've verified the generated HTML from ``make html`` looks
-good, you can push directly to the publishing site with:
-
-.. code-block:: bash
-
- make publish
-
-This will delete everything in the publishing repo's **latest** folder
-(in case the new version has
-deleted files) and push a copy of the newly-generated HTML content
-directly to the GitHub pages publishing repo. The `documentation site`_
-will be updated within a few minutes, so it's best to verify the
-locally generated html before publishing.
-
-Basic editing and making the template your own
-**********************************************
-
-#. TOC trees need to be in the index.rst at each level to define the
- site structure. For example, this is the TOC tree used to generate
- this site:
-
- .. code-block:: rest
-
- .. toctree::
- :maxdepth: 1
-
- introduction/index.rst
- getting_started/index.rst
- release_notes.rst
- howtos/index.rst
- contribute/index.rst
-
-#. Changes to theme can be made by editing ``static/custom.css``.
-#. No matter where the images are before the build, after the build all the
- images are collected in one directory: all the image filenames must be
- unique.
-#. Modify ``conf.py`` to reflect your project:
-
- .. code-block:: bash
-
- # General information about the project.
- project = u'<project name>'
- copyright = u'<year>, <project name>'
- author = u'<project name> developers'
-
-#. Modify ``substitutions.txt`` to reflect your project:
-
- .. code-block:: rest
-
- .. |PN| replace:: <project name>
-
- .. |LPN| replace:: <long project name>
-
- .. _project repo: https://github.com/<projectname>/
-
- .. _documentation repo: https://github.com/<proejctname>/<docrepo>
-
- .. _documentation site: https://<projectname>.github.io
-
- .. _project website: https://github.com/<projectname>/
-
-#. Edit ``LICENSE`` to reflect your project name and requirements
-#. Make any edits to ``Makefile`` that might be needed to facilitate the
- build or change the name of your local instantiation of the github.io
- website repository directory.
-#. Replace logos and favicon in ``/images`` with your project logos
-#. Run ``make clean`` to remove any previously generated HTML.
-#. Regenerate the HTML with Sphinx with ``make html``.
-#. Push the updated content to the github.io repo with ``make publish``.
-
-.. _reStructuredText: http://sphinx-doc.org/rest.html
-.. _Sphinx: http://sphinx-doc.org/
diff --git a/sphinx_doc/howtos/docs/process/docker-build.rst b/sphinx_doc/howtos/docs/process/docker-build.rst
deleted file mode 100644
index a5cbeb2f1f1abbb3ce853dcc19f9d18b088e62bc..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/process/docker-build.rst
+++ /dev/null
@@ -1,56 +0,0 @@
-.. _docker_build:
-
-Use Docker to build this Sphinx project
-#######################################
-
-.. warning::
-
- This is a work in progress and will only work if Docker is already
- installed.
-
-.. note::
-
- Permission to share the C drive must be reset every time you change
- your windows password.
-
-If you'd like to build the documentation but don't want to install all of the
-dependencies on your system, consider using a docker container to do it. This
-is very similar to what most automated build systems do.
-
-You'll need to be in the same directory as the included
-:file:`/scripts/docker/Dockerfile` to build the image. Once you're there,
-simply run this command:
-
-.. code-block:: bash
-
- sudo docker build -t sphinx-builder . #Linux Bash
-
- docker build -t sphinx-builder . #Windows Powershell
-
-.. note::
-
- ``sphinx-builder`` is the name of the image that gets created.
-
-Once the image has successfully built (docker not being configured for proxy
-is a common gotcha [#f1]_ [#f2]_), you can build the project. You'll need to be in the same
-directory as the :file:`conf.py` to successfully build the documentation, so
-do that first, then run the following command (remember sphinx-builder is the
-name we gave the image in the previous command, so if you named it something
-else use that instead):
-
-.. code-block:: bash
-
- sudo docker run --rm -v `pwd`:/home/sphinx -w /home/sphinx -i -t sphinx-builder make html #Linux Bash
-
- docker run --rm -v ${pwd}:/home/sphinx -w /home/sphinx -i -t sphinx-builder make html #Windows Powershell
-
-``pwd`` is shorthand for "present working directory," so the
-command maps (-v) the ``pwd`` of the host environment to the :file:`/home/sphinx` directory in the container, then sets it to the working directory
-(-w). And finally, we run the container by name and pass in the
-:command:`make html` command to build the documentation. The ``--rm`` option
-ensures that docker cleans up after it's finished by deleting the container.
-
-.. rubric:: Footnotes
-
-.. [#f1] Configuring proxy for Docker for Windows: https://docs.docker.com/docker-for-windows/#proxies
-.. [#f2] Configuring proxy for DockerCE in Linux: https://docs.docker.com/config/daemon/systemd/#httphttps-proxy
\ No newline at end of file
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diff --git a/sphinx_doc/howtos/docs/process/images/name-nojekyll.png b/sphinx_doc/howtos/docs/process/images/name-nojekyll.png
deleted file mode 100644
index 49fc7fc498b76b8d616e117df34bd893dea6fb27..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/process/images/new-git-repository.png b/sphinx_doc/howtos/docs/process/images/new-git-repository.png
deleted file mode 100644
index 299df51f304fc64f8ea2beadc47b023f943840e4..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/tech/GeneratedImagesExamples.rst b/sphinx_doc/howtos/docs/tech/GeneratedImagesExamples.rst
deleted file mode 100644
index 3fa72443d2b8925add188a93262557d1d9f8555e..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/GeneratedImagesExamples.rst
+++ /dev/null
@@ -1,16 +0,0 @@
-.. _dot_examples:
-
-Examples of Generated Images
-################################
-
-Test graphviz drawing from mft.dot
-
-.. graphviz:: images/mft.dot
-
-Test another graphviz drawing from repo_sync.dot
-
-.. graphviz:: images/repo_sync.dot
-
-And a test of plantuml from ssp.pu
-
-.. uml:: images/ssp.pu
diff --git a/sphinx_doc/howtos/docs/tech/images/copy_url.png b/sphinx_doc/howtos/docs/tech/images/copy_url.png
deleted file mode 100644
index 24b5ecd802965daaba5e03fef21dee9919671c35..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/tech/images/create_project.png b/sphinx_doc/howtos/docs/tech/images/create_project.png
deleted file mode 100644
index 63ab63b04393692cf83f200261a8779a7a50d903..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/tech/images/mft.dot b/sphinx_doc/howtos/docs/tech/images/mft.dot
deleted file mode 100644
index 4b6dc378c7c921e0f766631ec48997885ea39ba3..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/images/mft.dot
+++ /dev/null
@@ -1,25 +0,0 @@
-digraph G {
- bgcolor="transparent";
- node [fontsize=10 shape=record]
- node [fontsize=10]
- rankdir=LR
-
- bin_complete [label="<ext>Extended Manifest\n(unsigned)
- |<mft>Manifest\n(signed)|<bins>Binaries"]
-
- mft [label="<hdr>CSE Header
- |CSS Header (Type 4)\nmodule_type = 4\n...
- |<mcb>ManifestCryptoBlock
- |PlatformFirmware\nAuthenticationExtension
- |...other extensions...
- |AdspMetadataFileExtension
- |...alignment...
- |AdspFwBinaryDesc"]
-
- mcb [label="ManifestRSAKey\nmodulus\nexponent
- |Signature"]
-
- bin_complete:mft -> mft:hdr
- mft:mcb -> mcb
-
-}
diff --git a/sphinx_doc/howtos/docs/tech/images/ms-store-ubuntu-get.png b/sphinx_doc/howtos/docs/tech/images/ms-store-ubuntu-get.png
deleted file mode 100644
index 4c7f7be136703ea83a9b242cc38739bd20a4645b..0000000000000000000000000000000000000000
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deleted file mode 100644
index bf2fde92e07bb2bd516f4f7a6448d0c5994a0a6c..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/tech/images/new_project.png b/sphinx_doc/howtos/docs/tech/images/new_project.png
deleted file mode 100644
index f47892ef0d81b21d0a4a98062499c5eaf8b9d7d9..0000000000000000000000000000000000000000
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diff --git a/sphinx_doc/howtos/docs/tech/images/repo_sync.dot b/sphinx_doc/howtos/docs/tech/images/repo_sync.dot
deleted file mode 100644
index 69792346a366e687c895e330e8cb182df5e1dfce..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/images/repo_sync.dot
+++ /dev/null
@@ -1,30 +0,0 @@
-digraph repo_sync {
- bgcolor="transparent";
- rankdir=LR
- compound=true;
- node [fontsize=10, shape=record, style=rounded];
- edge [fontsize=10];
-
-
- subgraph clusterPublic {
- label="cool-project"; fontsize=10;
-
- subgraph clusterPubMaster {
- label="master\n(RW)"; fontsize=11;
- style="filled,rounded"; color="#F0F0F0"
-
- c1 -> c2 -> c3 -> c4;
-
- }
-
- subgraph clusterPubabcProd {
- label="abc_prod\n(RO replica)"; fontsize=11;
- style="filled,rounded"; color="#F0F0FF"
-
- node [style="rounded,dashed"];
-
- abc_c4 [label="c4 [REL1]"];
- abc_c1 -> abc_c2 -> abc_c3 -> abc_c4;
- }
- }
-}
diff --git a/sphinx_doc/howtos/docs/tech/images/ssp.pu b/sphinx_doc/howtos/docs/tech/images/ssp.pu
deleted file mode 100644
index ae6d015a870b97bd613b78cc377fefb8f469f943..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/images/ssp.pu
+++ /dev/null
@@ -1,17 +0,0 @@
-@startuml
-skinparam backgroundcolor transparent
-component dai
-package drivers {
- component "apl-ssp" as ssp
-}
-database ".data" {
- component "struct dai ssp[3]" as d_ssp
-}
-database ".rodata" {
- component ssp_ops
-}
-
-dai ..> d_ssp : expose via dai_get()
-d_ssp -> ssp_ops : links to
-ssp ..> ssp_ops : provide
-@enduml
diff --git a/sphinx_doc/howtos/docs/tech/important-sphinx-files.rst b/sphinx_doc/howtos/docs/tech/important-sphinx-files.rst
deleted file mode 100644
index 3033d6d9e9f0dfa5fc29f4d8c745d4bddf8581d4..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/important-sphinx-files.rst
+++ /dev/null
@@ -1,101 +0,0 @@
-.. _important-sphinx-files:
-
-Important Sphinx files
-######################
-
-These files will appear in most Sphinx projects and are used to extend and define the build behavior.
-
-.. rst-class:: content-collapse
-
-conf.py
-=======
-
-Configure Sphinx variables
-
-suffix
- Set the kind of files to process (.rst or .md).
-
- .. code-block:: python
-
- source_suffix = '.rst'
-
-master document
- Set the file to use as the top level document for the project (relative to conf.py).
-
- .. code-block:: python
-
- master_doc = 'index'
-
-general info
- General information about the project.
-
- .. code-block:: python
-
- project = u'Open source documentation template'
- copyright = u'2018, TCS Documentation Template'
- author = u'TCS developers'
-
-extensions
- Add functionality to your Sphinx build.
-
- .. code-block:: python
-
- extensions = ['breathe', 'sphinx.ext.graphviz', 'sphinxcontrib.plantuml']
-
-
-exclude patterns
- Exclude directories from Sphinx processing by adding them to a list.
-
- .. code-block:: python
-
- exclude_patterns = ['_build','_themes','scripts' ]
-
-theme
- Use one of the provided Sphinx themes or a custom one.
-
- .. code-block:: python
-
- html_theme_path = ['_themes']
- html_theme = 'otc_tcs_sphinx_theme'
-
-.. rst-class:: content-collapse
-
-substitutions.txt
-=================
-
-Add content to this file when you want it to appear at the end of or be
-accessed by every page of the project. We use it to set global string
-replacements and links.
-
-replace string
- Useful when you want to create a shorthand version of a long string.
-
- .. code-block:: rest
-
- .. |PN| replace:: project name
-
-global link
- Use these when you will be re-using a link throughout the project.
-
- .. code-block:: rest
-
- .. _project website: https://rosplanning.github.io/navigation2/
-
-unicode
- You can also create shortcuts for commonly used unicode characters.
-
- .. code-block:: rest
-
- .. |copy| unicode:: U+000A9 .. COPYRIGHT SIGN
- :ltrim:
-
-.. note::
-
- We implmented this by using an ``include`` directive in
- the ``rst_epilog`` variable in :file:`conf.py` like this:
-
- .. code-block:: python
-
- rst_epilog = """
- .. include:: /substitutions.txt
- """
diff --git a/sphinx_doc/howtos/docs/tech/pandocs-conversion.rst b/sphinx_doc/howtos/docs/tech/pandocs-conversion.rst
deleted file mode 100644
index 4c4f2d0781ea8c58a4ae66490addb25597a1a0f8..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/docs/tech/pandocs-conversion.rst
+++ /dev/null
@@ -1,113 +0,0 @@
-.. _pandocs-conversion:
-
-Pandocs Conversion Tutorial
-###########################
-
-.. contents:: :local:
- :depth: 2
-
-
-This tutorial shows you how to use ``pandoc`` to convert files in various
-formats.
-
-Table 1 shows current conversions.
-
-.. list-table:: Table 1. Conversions
- :widths: 80 100 100
- :header-rows: 1
- :stub-columns: 1
-
- * - Convert
- - From
- - To
- * - reSTructured Text to HTML
- - ``.rst``
- - ``.html``
- * - Markdown to reSTructured Text
- - ``.md``
- - ``.rst``
- * - reSTructured Text to HTML
- - ``.rst``
- - ``.html``
-
-Scope
-=====
-
-Conversion should be a preliminary step in migrating to Sphinx
-for your documentation project. The results of conversion will complete
-about 80% of the work. It's expected that you'll edit converted files as
-post-processing. We recommend studying the `Pandoc website`_ to learn more.
-
-In the Clear Linux\* documention, we established
-`Documentation Contribution Guidelines`_, which explain conventions and
-usage of reST syntax. We encourage you to establish similar guidelines for
-your team. Even minimal initial investment in guidelines greatly
-reduces future work. More importantly, providing clear guidelines supports
-your team's long-term maintence efforts.
-
-Note: See also the Clear Linux `reSTructured Text Guide`_.
-
-Prerequisites
-=============
-
-* `Install Pandocs`_
-* Command line interface basic skills
-* Text editor (e.g., Sublime, Notepad++, etc.)
-* Web browser
-
-Introduction
-============
-We recommend following reST conventions and best practices for Sphinx. To
-learn more, visit the `Sphinx website`_
-
-Single file Conversion
-=======================
-
-For single file conversions,
-
-
-cd into the file directory:
-
-.. code-block:: bash
-
- $ cd pandocs-tutorial
-
-
-From Markdown to reST
----------------------
-
-#. Run the command:
-
-.. code-block:: bash
-
- $ pandoc --from=markdown --to=rst --output=cicero.rst cicero.md
-
-From Markdown to HTML
----------------------
-
-#. Run the command:
-
-.. code-block:: bash
-
- $ pandoc cicero.md -f markdown -t html -s -o cicero.html
-
-From reST to HTML
------------------
-#. Run the command:
-
-.. code-block:: bash
-
- $ pandoc -f rst -t html cicero.rst > cicero.html
-
-**Congratulations!** You have learned how to convert single files to your preferred format.
-
-
-.. _Install Pandocs: https://pandoc.org/installing.html
-
-.. _Sphinx website: http://www.sphinx-doc.org/en/master/index.html
-
-.. _Pandoc website: https://pandoc.org/
-
-.. _Documentation Contribution Guidelines: https://clearlinux.org/documentation/clear-linux/reference/collaboration/documentation
-
-.. _reSTructured Text Guide: https://clearlinux.org/documentation/clear-linux/reference/collaboration/documentation/rest#additional-information
diff --git a/sphinx_doc/howtos/index.rst b/sphinx_doc/howtos/index.rst
deleted file mode 100644
index 313de3f44ae3db898307fcad7047a3a6aabb3c06..0000000000000000000000000000000000000000
--- a/sphinx_doc/howtos/index.rst
+++ /dev/null
@@ -1,12 +0,0 @@
-.. _howtos:
-
-How-Tos
-#######
-
-.. toctree::
- :maxdepth: 1
-
- build_instructions/index.rst
- docs/index.rst
- configuration/index.rst
- doxygen/index.rst
diff --git a/sphinx_doc/index.rst b/sphinx_doc/index.rst
index 091d1c3ff7114f784184dd6c0cd70a538d6afa06..c4b1f8a38747c9ce22da1a13c081314fa8f2c2dd 100644
--- a/sphinx_doc/index.rst
+++ b/sphinx_doc/index.rst
@@ -7,42 +7,68 @@
Overview
########
-The |PN| project is a set of ROS2 components that help you build a robot that
-can drive around. The ROS 2 Navigation System is the framework that
-enables a robot to autonomously reach a goal state, such as a position
-and orientation relative to a map. Given a current pose, a map,
-and a goal, the navigation system generates a plan to reach the goal,
-and outputs commands to autonomously drive the robot,
-respecting any safety constraints and avoiding obstacles.
+The Navigation 2 project is the spiritual successor of the ROS Navigation Stack.
+This project seeks to find a safe way to have a mobile robot move from point A to
+point B. This will complete dynamic path planning, compute velocities for motors,
+avoid obstacles, and structure recovery behaviors.
-It has tools to:
+Navigation 2 is built on ROS2 and makes use of Behavior Trees for navigation
+task orchestration, rather than ``move_base``'s finite state machine.
+For those familiar with the ROS1 Navigation Stack will know that ``move_base``
+had some issues and we have addressed them in Navigation 2.
-- load and store maps
-- localize the robot on the map
-- plan a path from A to B around obstacles
-- control the robot as it follows the path and avoid any obstacles along the way
-- convert sensor data into a costmap representation of the world
-- build complicated robot behaviors using behavior trees
-- Plugins to enable your own custom algorithms and behaviors
+Navigation 2 uses behavior trees to call modular servers to complete an action.
+An action can be to compute a path, control effort, recovery, or any other navigation
+related action. These are each separate nodes that communicate with the behavior tree (BT)
+over a ROS action server. The diagram below will give you a good first-look at the structure
+of Navigation 2. Note: It is possible to have multiple plugins for controllers, planners,
+and recoveries in each of their servers with matching BT plugins. This can be used to
+create contextual navigation behaviors.
-These all work seemlessly together, so that, with a bit of customization for your
-robot, you can just give it a destination and off it go.
+The expected inputs to Navigation2 (Nav2) are TF transformations conforming to REP-105, a
+map source if utilizing the Static Costmap Layer, a BT XML file, and any relevant sensor data
+sources. It will then provide valid velocity commands for the motors of a holonomic or
+non-holonomic robot to follow. We currently support holonomic and differential-drive base types
+but plan to support Ackermann (car-like) robots as well in the near future.
-Here you will find documentation on how to install and use |PN| with an example robot, Turtlebot
-3, as well as how to customize it for other robots, tune the behavior for better
-performance, as well as customize the internals for advanced results.
-.. raw:: html
+It has tools to:
- <div style="position: relative; padding-bottom: 0%; overflow: hidden; max-width: 100%; height: auto;">
- <iframe width="708" height="400" src="https://www.youtube.com/embed/ZeCds7Sv-5Q" frameborder="0" allowfullscreen></iframe>
- </div>
+- load, serve, and store maps (Map Server)
+- localize the robot on the map (AMCL)
+- plan a path from A to B around obstacles (Nav2 Planner)
+- control the robot as it follows the path (Nav2 Controller)
+- convert sensor data into a costmap representation of the world (Nav2 Costmap 2D)
+- build complicated robot behaviors using behavior trees (Nav2 Behavior Trees and BT Navigator)
+- Compute recovery behaviors in case of failure (Nav2 Recoveries)
+- Follow sequential waypoints (Nav2 Waypoint Follower)
+- Manage the lifecycle of the servers (Nav2 Lifecycle Manager)
+- Plugins to enable your own custom algorithms and behaviors (Nav2 Core)
.. image:: images/architectural_diagram.png
:height: 400px
:width: 708px
:alt: Navigation2 Block Diagram
+We also provide a set of starting plugins to get you going. NavFn computes the shortest path
+from a pose to a goal pose using A* or Dijkstra's algorithm. DWB will use the DWA algorithm
+to compute a control effort to follow a path, with several plugins of its own for trajectory
+critics. There are recovery behaviors included: waiting, spinning, clearing costmaps, and
+backing up. There are a set of BT plugins for calling these servers and computing conditions.
+Finally, there are a set of Rviz plugins for interacting with the stack and controlling the
+lifecycle.
+
+Here is the documentation on how to install and use |PN| with an example robot, Turtlebot
+3 (TB3), as well as how to customize it for other robots, tune the behavior for better
+performance, as well as customize the internals for advanced results. Below is an example
+of the TB3 navigating in a small lounge.
+
+.. raw:: html
+
+ <div style="position: relative; padding-bottom: 0%; overflow: hidden; max-width: 100%; height: auto;">
+ <iframe width="708" height="400" src="https://www.youtube.com/embed/ZeCds7Sv-5Q" frameborder="0" allowfullscreen></iframe>
+ </div>
+
Sections
********
@@ -50,7 +76,7 @@ Sections
:maxdepth: 1
getting_started/index.rst
- howtos/index.rst
+ build_instructions/index.rst
tutorials/index.rst
- release_notes.rst
+ configuration/index.rst
contribute/index.rst
diff --git a/sphinx_doc/release_notes.rst b/sphinx_doc/release_notes.rst
deleted file mode 100644
index ac4ae550bd53168c829010948652989efc180a3b..0000000000000000000000000000000000000000
--- a/sphinx_doc/release_notes.rst
+++ /dev/null
@@ -1,5 +0,0 @@
-.. _release_notes:
-
-Release Notes
-#############
-
diff --git a/sphinx_doc/tutorials/docs/images/Navigation2_with_Turtlebot3_in_Gazebo/gazebo_robot_reached_goal.png b/sphinx_doc/tutorials/docs/images/Navigation2_with_Turtlebot3_in_Gazebo/gazebo_robot_reached_goal.png
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deleted file mode 100644
index 2b77d4ea680107f2beea1f6d46fa4a9f25cfd0e8..0000000000000000000000000000000000000000
Binary files a/sphinx_doc/tutorials/docs/images/Navigation2_with_Turtlebot3_in_Gazebo/rviz_set_initial_pose.png and /dev/null differ
diff --git a/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst b/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
index 75c51e1fb16876e6af6c6ffbbb32d2e80b7fefb2..86d3ec66f1d769069843b61ab5884709f3fd1541 100644
--- a/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
+++ b/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
@@ -12,10 +12,7 @@ Overview
========
This tutorial shows how to control and navigate Turtlebot 3 using the ROS2 Navigation2 on a physical Turtlebot 3 robot.
-Before completing this tutorials, completing the :ref:`navigation2-with-turtlebot3-in-gazebo`. is highly recommended especially if you are new to ROS and Navigation2.
-
-This tutorial consists of two parts. In the first part, you learned how to use Turtlebot 3 robots in simulation (Gazebo).
-In this part, you will learn how to control a physical Turtlebot Waffle using Navigation2.
+Before completing this tutorials, completing :ref:`getting_started` is highly recommended especially if you are new to ROS and Navigation2.
``ROS2 Dashing`` and ``Navigation2 Dashing 0.2.4`` are used to create this tutorial.
You should be able to do this tutorial using other Navigation2 versions as well.
@@ -27,7 +24,7 @@ Requirements
============
You must install Navigation2, Turtlebot3.
-If you don't have them installed, please follow :ref:`navigation2-with-turtlebot3-in-gazebo`.
+If you don't have them installed, please follow :ref:`getting_started`.
Tutorial Steps
==============
@@ -40,14 +37,12 @@ Run the following commands first whenever you open a new terminal during this tu
- ``source /opt/ros/<ros2-distro>/setup.bash``
- ``export TURTLEBOT3_MODEL=waffle``
-1- Launch Turtlebot 3 Robot State Publisher
--------------------------------------------
-
-Launch Turtlebot 3 robot state publisher,
+1- Launch Turtlebot 3
+---------------------
- ``ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py use_sim_time:=False``
+You will need to launch your robot's interface,
-Note: use_sim_time is set to **False** because we're on a physical robot.
+ ``ros2 launch turtlebot3_bringup robot.launch.py use_sim_time:=False``
2- Launch Navigation2
---------------------
diff --git a/sphinx_doc/tutorials/docs/navigation2_with_slam.rst b/sphinx_doc/tutorials/docs/navigation2_with_slam.rst
index 1f2d3eb57a0b51cf728593c5bfb9d1408994dfab..63b3c9e450c09d1b7be7c3c81fa479dbbbb91d7b 100644
--- a/sphinx_doc/tutorials/docs/navigation2_with_slam.rst
+++ b/sphinx_doc/tutorials/docs/navigation2_with_slam.rst
@@ -14,13 +14,13 @@ This document explains how to use Navigation 2 with SLAM.
The following steps show ROS 2 users how to generate occupancy grid maps and use Navigation 2 to move their robot around.
This tutorial applies to both simulated and physical robots, but will be completed here on physical robot.
-Before completing this tutorials, completing the :ref:`navigation2-with-turtlebot3-in-gazebo`. is highly recommended especially if you are new to ROS and Navigation2.
+Before completing this tutorials, completing the :ref:`getting_started`. is highly recommended especially if you are new to ROS and Navigation2.
Requirements
============
You must install Navigation2, Turtlebot3, and SLAM Toolbox.
-If you don't have them installed, please follow :ref:`navigation2-with-turtlebot3-in-gazebo`.
+If you don't have them installed, please follow :ref:`getting_started`.
SLAM Toolbox can be installed via:
``sudo apt install ros-dashing-slam-toolbox``
@@ -62,6 +62,8 @@ It is assumed that the SLAM node(s) will publish to /map topic and provide the m
Bring up your choice of SLAM implementation.
Make sure it provides the map->odom transform and /map topic.
Run Rviz and add the topics you want to visualize such as /map, /tf, /laserscan etc.
+For this tutorial, we will use `SLAM Toolbox <https://github.com/SteveMacenski/slam_toolbox>`_.
+
``ros2 launch slam_toolbox online_async_launch.py``
diff --git a/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst b/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst
index abe5cabe499854a5d76c40b9a05963ada57c9973..300aeb82c0066fba87b8282d0c1b0c43cc47128f 100644
--- a/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst
+++ b/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst
@@ -39,7 +39,7 @@ Tutorial Steps
0- Setup
--------
-Follow the same process as in :ref:`navigation2-with-turtlebot3-in-gazebo` for installing and setting up a robot for hardware testing or simulation, as applicable. Ensure ROS2, Navigation2, and Gazebo are installed.
+Follow the same process as in :ref:`getting_started` for installing and setting up a robot for hardware testing or simulation, as applicable. Ensure ROS2, Navigation2, and Gazebo are installed.
1- Install STVL
---------------
@@ -129,7 +129,7 @@ Note: Pluginlib plugins for other Navigation2 servers such as planning, recovery
2- Launch Navigation2
---------------------
-Follow the same process as in :ref:`navigation2-with-turtlebot3-in-gazebo` to launch a simulated robot in gazebo with Navigation2.
+Follow the same process as in :ref:`getting_started` to launch a simulated robot in gazebo with Navigation2.
Navigation2 is now using STVL as its 3D sensing costmap layer.
3- RVIZ
diff --git a/sphinx_doc/tutorials/docs/navigation2_with_turtlebot3_in_gazebo.rst b/sphinx_doc/tutorials/docs/navigation2_with_turtlebot3_in_gazebo.rst
deleted file mode 100644
index 1396c5c73a222797261f7b93e3fb0d417650dd8d..0000000000000000000000000000000000000000
--- a/sphinx_doc/tutorials/docs/navigation2_with_turtlebot3_in_gazebo.rst
+++ /dev/null
@@ -1,192 +0,0 @@
-.. _navigation2-with-turtlebot3-in-gazebo:
-
-Navigation2 with Turtlebot 3 in Gazebo
-**************************************
-
-- `Overview`_
-- `Requirements`_
-- `Tutorial Steps`_
-- `Videos`_
-
-Overview
-========
-
-This tutorial shows how to control and navigate Turtlebot 3 using the ROS2 Navigation2 in Gazebo.
-Turtlebot is a low-cost, educational robot kit with open-source software (ROS2).
-Turtblebot robots are widely supported by the ROS community.
-You can find many applications and examples of Turtlebot projects on the Internet.
-You can find more information about Turtlebot3 `here. <https://www.turtlebot.com/>`_
-
-Links to the robot kits and Github repo.
-
- - `Turtlebot3 Kits <https://www.turtlebot.com/purchase/>`_
- - `Turtlebot 3 Github <https://github.com/ROBOTIS-GIT/turtlebot3>`_
-
-This tutorial consists of two parts.
-In the first part, you will learn how to use Turtlebot 3 robots in simulation (Gazebo).
-And in the second part, you will learn how to control a real Turtlebot Waffle using Navigation2.
-
-``ROS2 Dashing`` and ``Navigation2 Dashing 0.2.4`` are used to create this tutorial.
-
-This tutorial may take about 30 minutes to complete. It depends on your experience with ROS, robots, and what computer system you have.
-
-Requirements
-============
-
-- [Install ROS2](https://index.ros.org/doc/ros2/Installation/)
-
-- Install Navigation2
-
- - ``sudo apt install ros-<ros2-distro>-navigation2 ros-<ros2-distro>-nav2-bringup``
-
-- Install Turtlebot 3
-
- - ``sudo apt install ros-<ros2-distro>-turtlebot3*``
-
-- `Setup Turtlebot 3 <http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#setup>`_
-
-Tutorial Steps
-==============
-
-0- Setup Your Environment Variables
------------------------------------
-
-Run the following commands whenever you open a new terminal during this tutorial.
-
-- ``source /opt/ros/<ros2-distro>/setup.bash``
-- ``export TURTLEBOT3_MODEL=waffle``
-- ``export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/dashing/share/turtlebot3_gazebo/models``
-
-Short-cut
----------
-
-If you don't have the time to go through all the steps and only want to try Navigation2 in simulation, there is a solution for that.
-After setting up your system variables, if you don't want to go through the step by step launch instructions,
-you can use the launch file that does all the steps that are explained in the next sections for you.
-
-- ``ros2 launch nav2_bringup nav2_tb3_simulation_launch.py``
-
-This launch file is going to launch Gazebo, Turtlebot3 specific nodes, Navigation2 and RViz2.
-Once you see everything launced, you can jump to step 5.
-
-1- Launch Gazebo
-----------------
-
-Now, launch Gazebo with the world model, open a new terminal and type
-
- ``gazebo --verbose -s libgazebo_ros_init.so /opt/ros/dashing/share/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model``
-
-Once, Gazebo is launched, you should see the Turtlebot3 world and Turtlebot 3 Waffle.
-
-If Gazebo fails to start, run the following commands and try to launch Gazebo again.
-
- - ``killall gzserver``
- - ``killall gzclient``
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/gazebo_turlebot3.png
- :height: 720px
- :width: 1024px
- :alt: TB3 world and robot in Gazebo
-
-2- Launch Turtlebot 3 Robot State Publisher
--------------------------------------------
-
-Launch Turtlebot 3 specific nodes,
-
- ``ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py use_sim_time:=True``
-
-Note : Make sure ``use_sim_time`` is set to **True** because our robot Turtlebot 3 is in Gazebo.
-
-3- Launch Navigation2
----------------------
-
-Launch Navigation 2. If you set ``autostart:=False``, you need to click on the start button in RVIZ to initialize the nodes.
-Make sure `use_sim time` is set to **True**, because we want to use the time simulation time in Gazebo instead of the system time.
-
-turtlebot3_world.yaml is the configuration file for the map we want to provide Navigation2.
-In this case, it has the map resolution value, threshold values for obstacles and free spaces, and a map file location.
-
- ``ros2 launch nav2_bringup nav2_bringup_launch.py use_sim_time:=True autostart:=False map:=/opt/ros/dashing/share/nav2_bringup/launch/turtlebot3_world.yaml``
-
-4- Launch RViz
----------------
-
-Launch RVIZ with a pre-defined configuration file.
-
- ``ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/launch/nav2_default_view.rviz``
-
-Now, you should see a shadow of Turtlebot 3 robot model in the center of the plot in RViz.
-Click on the Start button (Bottom Left) if you set the auto_start parameter to false.
-
-.. image:: images/Navigation2_on_real_Turtlebot3/rviz_after_launch_view.png
- :height: 720px
- :width: 1024px
- :alt: Rviz after launch, auto_start = false
-
-Now, the map should appear in RViz.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/rviz_initial_view.png
- :height: 720px
- :width: 1024px
- :alt: Turtlebot 3 map in RViz
-
-5- Initialize the location of Turtlebot 3
------------------------------------------
-
-First, find where the robot is in Gazebo. You can see where the robot's initial position in Gazebo.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/gazebo_turlebot3.png
- :height: 720px
- :width: 1024px
- :alt: Turtlebot 3 world and robot in Gazebo
-
-Set the pose of the robot in RViz. Click on the 2D Pose Estimate button and point the location of the robot on the map.
-The direction of the green arrow is the orientation of Turtlebot.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/rviz_set_initial_pose.png
- :height: 720px
- :width: 1024px
- :alt: Set initial pose in RViz
-
-Now, the 3D model of Turtlebot should move to that location.
-A small error in the estimated location is tolerable.
-
-6- Send a Goal Pose
---------------------
-
-Pick a target location for Turtlebot on the map.
-You can send Turtlebot 3 a goal position and a goal orientation by using the **Navigation2 Goal** or the **GoalTool** buttons.
-
-Note: Navigation2 Goal button uses a ROS2 Action to send the goal and the GoalTool publishes the goal to a topic.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/rviz_send_goal_pose.png
- :height: 720px
- :width: 1024px
- :alt: Send goal pose in RViz
-
-Once you define the target pose, Navigation2 will find a global path and start navigating the robot on the map.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/rviz_robot_navigating.png
- :height: 720px
- :width: 1024px
- :alt: Turtlebot 3 navigating on a map in RViz
-
-You can also observe that Turtlebot 3 moves in the simulated environment in Gazebo as well.
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/gazebo_robot_reached_goal.png
- :height: 720px
- :width: 1024px
- :alt: Turtlebot 3 navigating in Gazebo
-
-Next Tutorial
--------------
-
-:ref:`navigation2-on-real-turtlebot3`
-
-Videos
-------
-
-.. image:: images/Navigation2_with_Turtlebot3_in_Gazebo/navigation_with_recovery_behaviours.gif
- :height: 480px
- :width: 640px
- :alt: Navigation2 with Turtlebot 3 Demo
diff --git a/sphinx_doc/tutorials/index.rst b/sphinx_doc/tutorials/index.rst
index 2086b83bbe6c7e5c800a039a91c6ae1ea126f4ef..8ae1daaafb18a8b00984bf2a6dfd87e20b55cbbc 100644
--- a/sphinx_doc/tutorials/index.rst
+++ b/sphinx_doc/tutorials/index.rst
@@ -8,7 +8,6 @@ Navigation2 Tutorials
.. toctree::
:maxdepth: 1
- docs/navigation2_with_turtlebot3_in_gazebo.rst
docs/navigation2_on_real_turtlebot3.rst
docs/navigation2_with_slam.rst
docs/navigation2_with_stvl.rst