Add ROS interface doc (#3)

* Add ROS interface doc

* Split into ROS 1/2 guides

* Add simple ros run usage

docs/operation.rst

@@ -3,6 +3,7 @@ Operation
 =========
 
 .. toctree::
-  :maxdepth: 3
+  :maxdepth: 1
 
   operation/rc_controller.rst
+  operation/ros_interface.rst

docs/operation/ros_interface.rst

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

docs/operation/ros_interface/ros1.rst

@@ -0,0 +1,91 @@
+=========================
+ROS 1 Interface Operation
+=========================
+
+SLATE Base Node
+===============
+
+The SLATE interfaces with ROS using the **slate_base_node** from the **interbotix_slate_driver** package.
+
+Publishers
+----------
+
+The **slate_base_node** publishes to the following topics:
+
+* ``odom``
+
+  * **Type**: ``nav_msgs/msg/Odometry``
+  * **Description**: The odometry of the base.
+
+* ``battery_state``
+
+  * **Type**: ``sensor_msgs/msg/BatteryState``
+  * **Description**: Battery state information including present voltage and state of charge.
+
+Subscribers
+-----------
+
+The **slate_base_node** subscribes to the following topics:
+
+* ``cmd_vel``
+
+  * **Type**: ``geometry_msgs/msg/Twist``
+  * **Description**: Velocity commands
+
+Services
+--------
+
+The **slate_base_node** provides the following service servers:
+
+* ``set_text``
+
+  * **Type**: ``std_srvs/srv/SetString``
+  * **Description**: Sets the text on the SLATE screen.
+
+* ``set_motor_torque_status``
+
+  * **Type**: ``std_srvs/srv/SetBool``
+  * **Description**: If true, enables torque on the drive wheels.
+    If false, disables torque on the drive wheels.
+
+  .. note::
+
+    Torque is enabled on the drive wheels by default.
+
+* ``enable_charging``
+
+  * **Type**: ``std_srvs/srv/SetBool``
+  * **Description**: If true, enables charging via the contact charger.
+
+Parameters
+----------
+
+The **slate_base_node** has the following parameters:
+
+* ``publish_tf``:
+
+  * **Type**: bool
+  * **Description**: Setting this to true publishes the odom->base_link TF following REP 105.
+  * **Default**: ``false``
+
+* ``odom_frame_name``:
+
+  * **Type**: string
+  * **Description**: The name of the odometry frame when publishing the odom->base_link TF.
+  * **Default**: ``"odom"``
+
+* ``base_frame_name``:
+
+  * **Type**: string
+  * **Description**: The name of the base_link frame when publishing the odom->base_link TF.
+  * **Default**: ``"base_link"``
+
+Usage
+=====
+
+Using rosrun
+------------
+
+.. code-block:: bash
+
+  $ rosrun interbotix_slate_driver slate_base_node

docs/operation/ros_interface/ros2.rst

@@ -0,0 +1,91 @@
+=========================
+ROS 2 Interface Operation
+=========================
+
+SLATE Base Node
+===============
+
+The SLATE interfaces with ROS using the **slate_base_node** from the **interbotix_slate_driver** package.
+
+Publishers
+----------
+
+The **slate_base_node** publishes to the following topics:
+
+* ``odom``
+
+  * **Type**: ``nav_msgs/msg/Odometry``
+  * **Description**: The odometry of the base.
+
+* ``battery_state``
+
+  * **Type**: ``sensor_msgs/msg/BatteryState``
+  * **Description**: Battery state information including present voltage and state of charge.
+
+Subscribers
+-----------
+
+The **slate_base_node** subscribes to the following topics:
+
+* ``cmd_vel``
+
+  * **Type**: ``geometry_msgs/msg/Twist``
+  * **Description**: Velocity commands
+
+Services
+--------
+
+The **slate_base_node** provides the following service servers:
+
+* ``set_text``
+
+  * **Type**: ``std_srvs/srv/SetString``
+  * **Description**: Sets the text on the SLATE screen.
+
+* ``set_motor_torque_status``
+
+  * **Type**: ``std_srvs/srv/SetBool``
+  * **Description**: If true, enables torque on the drive wheels.
+    If false, disables torque on the drive wheels.
+
+  .. note::
+
+    Torque is enabled on the drive wheels by default.
+
+* ``enable_charging``
+
+  * **Type**: ``std_srvs/srv/SetBool``
+  * **Description**: If true, enables charging via the contact charger.
+
+Parameters
+----------
+
+The **slate_base_node** has the following parameters:
+
+* ``publish_tf``:
+
+  * **Type**: bool
+  * **Description**: Setting this to true publishes the odom->base_link TF following REP 105.
+  * **Default**: ``false``
+
+* ``odom_frame_name``:
+
+  * **Type**: string
+  * **Description**: The name of the odometry frame when publishing the odom->base_link TF.
+  * **Default**: ``"odom"``
+
+* ``base_frame_name``:
+
+  * **Type**: string
+  * **Description**: The name of the base_link frame when publishing the odom->base_link TF.
+  * **Default**: ``"base_link"``
+
+Usage
+=====
+
+Using ros2run
+-------------
+
+.. code-block:: bash
+
+  $ ros2 run interbotix_slate_driver slate_base_node