Update documentation.

canopen/sphinx/application/diff_drive.rst

@@ -0,0 +1,2 @@
+Differential Drive Controller
+=============================

canopen/sphinx/application/trinamic.rst

@@ -11,11 +11,14 @@ Getting started
 
 If you haven't already done so, follow the steps in the :doc:`../user-guide/configuration`.
 
+To know more about how to create a configuration follow this steps: :doc:`../user-guide/how-to-create-a-configuration`.
+
 Configuration
 -------------
-
+- Create new package named ``trinamic_pd42_can``. To know how to create a package follow the documentation provided in `ROS2 <https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
+- Follow the configuration folder tree steps as per the  :doc:`../user-guide/configuration`. .
 - Create a new folder in the ``config`` folder of your configuration package. Name it ``single-pd42``.
-- Download ``.eds`` file from `Trinamic <https://www.trinamic.com/fileadmin/assets/Products/Drives_Software/TMCM-1270_CANopen_V326.zip>`_ and place ``TMCM-1270.eds`` in the ``single-pd42`` folder.
+- Download ``.eds`` file from `Trinamic Github <https://github.com/hellantos/trinamic_pd42_can/blob/master/config/single-pd42/TMCM-1270.eds>`_ and place ``TMCM-1270.eds`` in the ``single-pd42`` folder.
 - Create a ``bus.yml`` file in the ``single-pd42`` folder with the following content:
 
     .. code-block:: yaml
@@ -50,7 +53,7 @@ Configuration
                 node_id: 1
 
 
-- Edit the ``CMakeLists.txt`` file in the ``config`` folder of your configuration package and add the following lines:
+- Edit the ``CMakeLists.txt`` file in the package and add the following lines:
 
     .. code-block:: cmake
 
@@ -93,7 +96,91 @@ Configuration
 
         ament_package()
 
-- Create launch file in folder ``launch`` and add the following content:
+- Create a source file in the ``src`` folder ``position_tick_motor.cpp`` and add the follow lines.
+
+    .. code-block:: cpp
+
+
+        #include <chrono>
+        #include <cstdlib>
+        #include <memory>
+
+        #include "canopen_interfaces/srv/co_target_double.hpp"
+        #include "rclcpp/rclcpp.hpp"
+        #include "std_srvs/srv/trigger.hpp"
+        int main(int argc, char * argv[])
+        {
+            rclcpp::init(argc, argv);
+
+            std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("position_tick_motor_node");
+
+            RCLCPP_INFO(node->get_logger(), "Position Tick Motor Node Started");
+            rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr init_client =
+            node->create_client<std_srvs::srv::Trigger>("/trinamic_pd42/init");
+            rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr mode_client =
+            node->create_client<std_srvs::srv::Trigger>("/trinamic_pd42/cyclic_position_mode");
+            rclcpp::Client<canopen_interfaces::srv::COTargetDouble>::SharedPtr target_client =
+            node->create_client<canopen_interfaces::srv::COTargetDouble>("/trinamic_pd42/target");
+
+            while (!init_client->wait_for_service(std::chrono::seconds(1)) &&
+                    !mode_client->wait_for_service(std::chrono::seconds(1)) &&
+                    !target_client->wait_for_service(std::chrono::seconds(1)))
+            {
+            if (!rclcpp::ok())
+            {
+                RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting.");
+                return 0;
+            }
+            RCLCPP_INFO(node->get_logger(), "service not available, waiting again...");
+            }
+
+            auto trigger_req = std::make_shared<std_srvs::srv::Trigger::Request>();
+            auto result = init_client->async_send_request(trigger_req);
+            if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
+            {
+            RCLCPP_INFO(node->get_logger(), "Init service called successfully");
+            }
+            else
+            {
+            RCLCPP_ERROR(node->get_logger(), "Failed to call init service");
+            }
+
+            result = mode_client->async_send_request(trigger_req);
+            if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
+            {
+            RCLCPP_INFO(node->get_logger(), "Config position mode service called successfully");
+            }
+            else
+            {
+            RCLCPP_ERROR(node->get_logger(), "Failed to call config service");
+            }
+
+            RCLCPP_INFO(node->get_logger(), "Starting to send target values");
+
+            auto targer_req = std::make_shared<canopen_interfaces::srv::COTargetDouble::Request>();
+            double target = 0;
+            while (rclcpp::ok())
+            {
+            targer_req->target = target;
+            auto res = target_client->async_send_request(targer_req);
+            if (rclcpp::spin_until_future_complete(node, res) == rclcpp::FutureReturnCode::SUCCESS)
+            {
+                RCLCPP_INFO(node->get_logger(), "Set Target: %.2f", target);
+            }
+            else
+            {
+                RCLCPP_ERROR(node->get_logger(), "Failed to call target service");
+            }
+            rclcpp::sleep_for(std::chrono::seconds(1));
+
+            target += 1.0;
+            if (target >= 105.0) target = 0;
+            }
+
+            return 0;
+        }
+
+- Create a launch file ``file_name.launch.py`` in folder ``launch`` and add the following content:
 
     .. code-block:: python
 
@@ -168,7 +255,7 @@ Configuration
 Running the example
 -------------------
 
-To begin, follow the instructions for :doc:`../quickstart/operation`, which can be done using either a virtual or peak CAN interface.
+To begin, follow the instructions for :doc:`../quickstart/setup-network`, which can be done using either a virtual or peak CAN interface.
 
 If you prefer to use a real CAN interface, you will need to modify the launch file by changing the ``can_interface_name`` argument to ``can0``.
 Additionally, if you are using real hardware, you should comment out the fake slave launch by adding a *#* in front of the line *ld.add_action(slave_node_1)*.

canopen/sphinx/examples/service-interface-examples.rst

@@ -0,0 +1,66 @@
+Service Interface Examples
+==========================
+
+Before running these examples, ensure that to :ref:`start the vcan0 interface <quick-start-setup-can-controller>`.
+You can find these examples in the ``canopen_test`` package.
+
+Proxy Driver Examples
+---------------------
+A proxy driver provides a simple way to forward CANopen functionalities for a specific device using ROS2 services and messages. For more details on the proxy driver, see :doc:`../user-guide/proxy-driver`.
+
+Configuring ``bus.yaml``
+~~~~~~~~~~~~~~~~~~~~~~~~
+The configuration for the proxy driver is specified in the ``bus.yaml`` file. Here's an example configuration:
+
+.. code-block:: yaml
+
+    options:
+        dcf_path: "@BUS_CONFIG_PATH@"
+
+    master:
+        node_id: 1
+        driver: "ros2_canopen::MasterDriver"
+        package: "canopen_master_driver"
+
+    defaults:
+        dcf: "simple.eds"
+        driver: "ros2_canopen::ProxyDriver"
+        package: "canopen_proxy_driver"
+        polling: true
+        period: 10
+
+    nodes:
+        proxy_device_1:
+            node_id: 2
+        proxy_device_2:
+            node_id: 3
+
+For further details about the configuration, refer to :doc:`../user-guide/configuration`. Additionally, add ``cogen_dcf(simple)`` in the *CMakeLists.txt* file to generate the necessary artifacts for the proxy driver.
+
+Running the Proxy Driver Examples
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+To launch the proxy driver setup, use the following command:
+
+.. code-block:: bash
+
+    $ ros2 launch canopen_tests proxy_setup.launch.py
+
+Verify that all services are available by running the ROS2 topic and service list commands. To conduct a test:
+
+.. code-block:: bash
+
+    $ ros2 topic pub /proxy_device_1/tpdo canopen_interfaces/msg/COData "{ index: 0x4000, subindex: 0, data: 200 }"
+
+Check the output by running:
+
+.. code-block:: bash
+
+    $ ros2 topic echo /proxy_device_1/rpdo
+
+.. note::
+
+    These examples use a fake slave device. Running on actual hardware may yield different results.
+    Always refer to the device's documentation for specific details.
+
+CiA402 Driver Examples
+-----------------------

canopen/sphinx/index.rst

@@ -9,22 +9,25 @@ This is the documentation of the ROS2 CANopen stack.
   :glob:
 
   quickstart/installation
-  quickstart/operation
+  quickstart/setup-network
   quickstart/examples
 
 .. toctree::
   :maxdepth: 1
   :caption: User Guide
   :glob:
 
-  user-guide/operation
-  user-guide/configuration
-  user-guide/master
-  user-guide/proxy-driver
-  user-guide/cia402-driver
-  user-guide/how-to-create-a-configuration
-  user-guide/how-to-create-a-cia301-system
-  user-guide/how-to-create-a-robot-system
+  user-guide/1_operation
+  user-guide/2_interface
+  user-guide/3_configuration
+  user-guide/4_how_to_guide
+
+.. toctree::
+  :maxdepth: 1
+  :caption: Examples
+  :glob:
+
+  examples/service-interface-examples
 
 
 .. toctree::
@@ -37,7 +40,8 @@ This is the documentation of the ROS2 CANopen stack.
   developers-guide/architecture
   developers-guide/new-driver
   developers-guide/new-master
-  API Reference <https://ros-industrial.github.io/ros2_canopen/api/>
+  developers-guide/new-device-manager
+  API Reference <https://ros-industrial.github.io/ros2_canopen/api/rolling/>
 
 .. toctree::
   :maxdepth: 1

canopen/sphinx/quickstart/installation.rst

@@ -1,11 +1,36 @@
 Installation
 ===============================
-Clone ros2_canopen into your ROS2 workspace's source folder, install dependencies and
-build with colcon and your done.
+- Clone ros2_canopen into your ROS2 workspace's source folder, install dependencies and build with colcon and your done.
+- In order to create a workspace
+
+.. code-block:: console
+
+   $ mkdir -p ~/name_ws/src
+   $ cd ~/name_ws/src
+
+.. note::
+    Change the ``name_ws`` to your desired workspace name.
 
 .. code-block:: console
 
    $ git clone https://github.com/ros-industrial/ros2_canopen.git
    $ cd ..
+   $ source /opt/ros/ros_distro/setup.bash # Replace the *ros distro as per your need.
    $ rosdep install --from-paths src/ros2_canopen --ignore-src -r -y
    $ colcon build
+   $ source install/setup.bash
+
+.. note::
+   Kindly check the branch as per your configuration before cloning the repository.
+
+Testing with pre-release binaries
+---------------------------------
+To test the package with pre-release binaries, you must first set up your ROS2 workspace to use the ROS2 pre-release repositories.
+To do this, follow the instructions
+`here <https://docs.ros.org/en/rolling/Installation/Testing.html#debian-testing-repository>`_ .
+After that, you can install the packages using the following command,
+
+.. code-block:: console
+
+   $ sudo apt update
+   $ sudo apt install ros-<distro>-canopen # Replace <distro> with your ROS2 distro

canopen/sphinx/quickstart/operation.rst → canopen/sphinx/quickstart/setup-network.rst

@@ -2,6 +2,16 @@ Setup CAN Controller
 ====================
 .. _quick-start-setup-can-controller:
 
+To interact with the CAN controller you can use ``can-utils`` in order to know the output of the controller.
+
+.. code-block:: console
+
+  $ sudo apt install can-utils
+  $ candump
+
+.. note::
+  This step is only required in order to know the output of the controller. One can skip this step to proceed with the setup of the controller.
+
 **Option 1**: Virtual CANController
 
 .. code-block:: console
@@ -11,6 +21,7 @@ Setup CAN Controller
   $ sudo ip link set vcan0 txqueuelen 1000
   $ sudo ip link set up vcan0
 
+
 **Option 2**: Peak CANController
 
 .. code-block:: console

canopen/sphinx/user-guide/1_operation.rst

@@ -0,0 +1,10 @@
+Operations
+==========
+
+.. toctree::
+  :maxdepth: 1
+  :caption: Operation
+  :glob:
+
+    1_operation/1_operation_modes
+    1_operation/2_operation_interface

canopen/sphinx/user-guide/2_interface.rst

@@ -0,0 +1,15 @@
+Interfaces
+==========
+
+
+.. toctree::
+  :maxdepth: 1
+  :caption: Configuration
+  :glob:
+
+    2_interface/1_interface_overview
+    2_interface/2_master_interface
+    2_interface/3_proxy_interface
+    2_interface/4_cia402_interface
+    2_interface/5_ros2_control_interface
+    2_interface/6_ros2_controllers

canopen/sphinx/user-guide/3_configuration.rst

@@ -0,0 +1,11 @@
+Configuration
+==============
+
+.. toctree::
+  :maxdepth: 1
+  :caption: Configuration
+  :glob:
+
+  3_configuration/1_bus_configuration
+  3_configuration/2_cmake_configuration
+  3_configuration/3_device_configuration

canopen/sphinx/user-guide/3_configuration/1_bus_configuration.rst

@@ -0,0 +1,2 @@
+Bus Configuration
+=================

canopen/sphinx/user-guide/4_how_to_guide.rst

@@ -0,0 +1,2 @@
+How to create your own CANopen Package
+======================================