Add ROS getting started docs

docs/getting_started.rst

@@ -1,3 +1,8 @@
 ===============
 Getting Started
 ===============
+
+.. toctree::
+  :maxdepth: 1
+
+  getting_started/ros_interface.rst

docs/getting_started/ros_interface.rst

@@ -0,0 +1,11 @@
+=============================
+ROS Interface Getting Started
+=============================
+
+Follow the links below to your ROS version's getting started guide.
+
+.. toctree::
+  :maxdepth: 1
+
+  ros_interface/ros1.rst
+  ros_interface/ros2.rst

docs/getting_started/ros_interface/ros1.rst

@@ -0,0 +1,66 @@
+=====================
+ROS 1 Getting Started
+=====================
+
+Install ROS
+===========
+
+.. note::
+
+  The ROS 1 Interbotix SLATE packages are only compatible with Noetic on Ubuntu 20.04.
+
+Follow the `Ubuntu install of ROS Noetic guide on the ROS Wiki`_.
+Once installed, make sure to follow steps 1.6 and 1.6.1 to set up and install the development and dependency toolchains.
+
+.. _`Ubuntu install of ROS Noetic guide on the ROS Wiki`: https://wiki.ros.org/noetic/Installation/Ubuntu
+
+Install the Interbotix ROS Slate Packages
+=========================================
+
+#.  Clone the noetic branch of the interbotix_ros_core repository into your catkin workspace.
+
+  .. code-block:: bash
+
+    $ mkdir -p ~/interbotix_ws/src
+    $ cd ~/interbotix_ws/src
+    $ git clone -b noetic https://github.com/Interbotix/interbotix_ros_core.git
+
+#.  Remove the CATKIN_IGNORE file preventing the interbotix_ros_slate metapackage from being built.
+
+  .. code-block:: bash
+
+    $ rm ~/interbotix_ws/src/interbotix_ros_core/interbotix_ros_slate/CATKIN_IGNORE
+
+#.  Run rosdep in the root of the workspace to install all required dependencies.
+
+  .. code-block:: bash
+
+    $ cd ~/interbotix_ws
+    $ rosdep install --from-paths src --ignore-src -r -y
+
+#.  Build the workspace.
+
+  .. code-block:: bash
+
+    $ cd ~/interbotix_ws
+    $ catkin_make
+
+Post-Install
+============
+
+The USB-Serial converter device shares the same vendor and product ID with some brail readers.
+Because of this, the ``brltty`` program may claim the device, preventing its use by other drivers.
+Solving this issue is as simple as removing the package using apt.
+
+.. code-block:: bash
+
+  $ sudo apt-get remove brltty
+
+Verification
+============
+
+Run the driver using rosrun and check that the driver successfully connects to the base.
+
+.. code-block:: bash
+
+  $ rosrun interbotix_slate_driver slate_base_node

docs/getting_started/ros_interface/ros2.rst

@@ -0,0 +1,67 @@
+=====================
+ROS 2 Getting Started
+=====================
+
+Install ROS 2
+=============
+
+.. note::
+
+  The ROS 2 Interbotix SLATE packages are only compatible with Humble on Ubuntu 22.04.
+
+Follow the `Ubuntu (Debian packages)`_ ROS 2 installation guide on the ROS documentation site.
+Once installed, make sure to follow the `How do I use the rosdep tool?`_ guide to to set up and install the development and dependency toolchains.
+
+.. _`Ubuntu (Debian packages)`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
+.. _`How do I use the rosdep tool?`: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#how-do-i-use-the-rosdep-tool
+
+Install the Interbotix ROS Slate Packages
+=========================================
+
+#.  Clone the humble branch of the interbotix_ros_core repository into your colcon workspace.
+
+  .. code-block:: bash
+
+    $ mkdir -p ~/interbotix_ws/src
+    $ cd ~/interbotix_ws/src
+    $ git clone -b humble https://github.com/Interbotix/interbotix_ros_core.git
+
+#.  Remove the COLCON_IGNORE file preventing the interbotix_ros_slate metapackage from being built.
+
+  .. code-block:: bash
+
+    $ rm ~/interbotix_ws/src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE
+
+#.  Run rosdep in the root of the workspace to install all required dependencies.
+
+  .. code-block:: bash
+
+    $ cd ~/interbotix_ws
+    $ rosdep install --from-paths src --ignore-src -r -y
+
+#.  Build the workspace.
+
+  .. code-block:: bash
+
+      $ cd ~/interbotix_ws
+      $ colcon build
+
+Post-Install
+============
+
+The USB-Serial converter device shares the same vendor and product ID with some brail readers.
+Because of this, the ``brltty`` program may claim the device, preventing its use by other drivers.
+Solving this issue is as simple as removing the package using apt.
+
+.. code-block:: bash
+
+  $ sudo apt-get remove brltty
+
+Verification
+============
+
+Run the driver using ros2run and check that the driver successfully connects to the base.
+
+.. code-block:: bash
+
+  $ ros2 run interbotix_slate_driver slate_base_node

docs/operation/ros_interface/ros1.rst

@@ -14,12 +14,12 @@ The **slate_base_node** publishes to the following topics:
 
 * ``odom``
 
-  * **Type**: ``nav_msgs/msg/Odometry``
+  * **Type**: ``nav_msgs/Odometry``
   * **Description**: The odometry of the base.
 
 * ``battery_state``
 
-  * **Type**: ``sensor_msgs/msg/BatteryState``
+  * **Type**: ``sensor_msgs/BatteryState``
   * **Description**: Battery state information including present voltage and state of charge.
 
 Subscribers
@@ -29,7 +29,7 @@ The **slate_base_node** subscribes to the following topics:
 
 * ``cmd_vel``
 
-  * **Type**: ``geometry_msgs/msg/Twist``
+  * **Type**: ``geometry_msgs/Twist``
   * **Description**: Velocity commands
 
 Services
@@ -39,12 +39,12 @@ The **slate_base_node** provides the following service servers:
 
 * ``set_text``
 
-  * **Type**: ``std_srvs/srv/SetString``
+  * **Type**: ``std_srvs/SetString``
   * **Description**: Sets the text on the SLATE screen.
 
 * ``set_motor_torque_status``
 
-  * **Type**: ``std_srvs/srv/SetBool``
+  * **Type**: ``std_srvs/SetBool``
   * **Description**: If true, enables torque on the drive wheels.
     If false, disables torque on the drive wheels.
 
@@ -54,7 +54,7 @@ The **slate_base_node** provides the following service servers:
 
 * ``enable_charging``
 
-  * **Type**: ``std_srvs/srv/SetBool``
+  * **Type**: ``std_srvs/SetBool``
   * **Description**: If true, enables charging via the contact charger.
 
 Parameters
@@ -81,10 +81,10 @@ The **slate_base_node** has the following parameters:
   * **Default**: ``"base_link"``
 
 Usage
-=====
+-----
 
 Using rosrun
-------------
+^^^^^^^^^^^^
 
 .. code-block:: bash
 

docs/operation/ros_interface/ros2.rst

@@ -81,10 +81,10 @@ The **slate_base_node** has the following parameters:
   * **Default**: ``"base_link"``
 
 Usage
-=====
+-----
 
 Using ros2run
--------------
+^^^^^^^^^^^^^
 
 .. code-block:: bash
 

docs/troubleshooting.rst

@@ -29,8 +29,6 @@ The following table lists common errors that can be indicated on the base's scre
     Hall Error                     Err33        The Hall sensor signal is malformed             Contact support
   ============================== ============ =============================================== ===========================================================
 
-
-
 SLATE driver can't connect to base
 ==================================