Preparing for 1.4 and new documentation system

- Documentation are ported from README to docs/ in RST

.gitignore

@@ -15,7 +15,6 @@
 *.la
 *.a
 /nbproject/private/
-Makefile
 /build/CMakeFiles/
 
 # Build results

docs/FAQ.rst

@@ -0,0 +1,99 @@
+===
+FAQ 
+===
+
+Where should I go next? Is there any ROS package or stack that can be used as a tutorial/sample to use ardrone_autonomy?
+-------------------------------------------------------------------------------------------------------------------------
+Absolutely. Here are some examples:
+
+- `falkor_ardrone <https://github.com/FalkorSystems/falkor_ardrone>`_
+
+"falkor_ardrone" is a ROS package which uses the "ardrone_autonomy" package to implement autonomous control functionality on an AR.Drone.
+
+- `tum_ardrone <http://www.ros.org/wiki/tum_ardrone>`_
+
+State Estimation, Autopilot and GUI for ardrone.
+
+- `arl_ardrone_examples <https://github.com/parcon/arl_ardrone_examples>`_
+
+This ROS stack includes a series of very basic nodes to show users how to develop applications that use the ardrone_autonomy drivers for the AR drone 1.0 and 2.0 quadrotor robot.
+
+- `AR Drone Tutorials <https://github.com/mikehamer/ardrone_tutorials>`_
+
+This repository contains the source-code for the Up and flying with the AR.Drone and ROS tutorial series, published on [Robohub](http://www.robohub.org).
+
+
+How can I report a bug, submit patches or ask for a feature?
+------------------------------------------------------------
+
+`github` offers a nice and convenient issue tracking and social coding platform, it can be used for bug reports and pull/feature request. This is the preferred method. You can also contact the author directly.
+
+Why the `ARDroneLib` has been patched?
+--------------------------------------
+
+The ARDrone 2.0.1 SDK has been patched to 1) Enable the lib only build 2) Make its command line parsing compatible with ROS and 3) To fix its weird `main()` function issue. The patched SDK is being hosted on an `external repository <https://github.com/AutonomyLab/ardronelib>`_.
+
+Why the wifi bandwidth usage is too much?
+-----------------------------------------
+
+The driver has been configured by default to use the maximum bandwidth allowed to ensure the best quality video stream possible (please take a look at default values in parameters section). That is why the picture quality received from Drone 2.0 using this driver is far better than what you usually get using other software. If for any reason you prefer the lower quality* video stream, change `bitrate_ctrl_mode`, `max_bitrate` and `bitrate` parameters to the default values mentioned in the AR-Drone developer guide.
+
+.. note::
+  Please note that lower quality does not mean lower resolution. By configuring AR-Drone to use bitrate control with limits, the picture gets blurry when there is a movement.
+
+What is the default configuration for the front camera video stream?
+---------------------------------------------------------------------
+
+*Drone 1*: `320x240@15fps UVLC Codec`
+*Drone 2*: `640x360@20fps H264 codec with no record stream`
+
+How can I extract camera information and tag type from `tags_type[]`?
+---------------------------------------------------------------------
+
+`tag_type` contains information for both source and type of each detected tag. In order to extract information from them you can use the following c macros and enums (taken from `ardrone_api.h`)
+
+.. code-block:: c
+
+  #define DETECTION_EXTRACT_SOURCE(type)  ( ((type)>>16) & 0x0FF )
+  #define DETECTION_EXTRACT_TAG(type)     ( (type) & 0x0FF )
+
+  typedef enum
+  {
+    DETECTION_SOURCE_CAMERA_HORIZONTAL=0,   /*<! Tag was detected on the front camera picture */
+    DETECTION_SOURCE_CAMERA_VERTICAL,       /*<! Tag was detected on the vertical camera picture at full speed */
+    DETECTION_SOURCE_CAMERA_VERTICAL_HSYNC, /*<! Tag was detected on the vertical camera picture inside the horizontal pipeline */
+    DETECTION_SOURCE_CAMERA_NUM,
+  } DETECTION_SOURCE_CAMERA;
+
+  typedef enum
+  {
+    TAG_TYPE_NONE             = 0,
+    TAG_TYPE_SHELL_TAG        ,
+    TAG_TYPE_ROUNDEL          ,
+    TAG_TYPE_ORIENTED_ROUNDEL ,
+    TAG_TYPE_STRIPE           ,
+    TAG_TYPE_CAP              ,
+    TAG_TYPE_SHELL_TAG_V2     ,
+    TAG_TYPE_TOWER_SIDE       ,
+    TAG_TYPE_BLACK_ROUNDEL    ,
+    TAG_TYPE_NUM
+  } TAG_TYPE;
+
+
+How can I calibrate the ardrone front/bottom camera?
+----------------------------------------------------
+
+It is easy to calibrate both cameras using ROS `Camera Calibration <http://www.ros.org/wiki/camera_calibration) package>`_.
+
+First, run the camera_calibration node with appropriate arguments: (For the bottom camera, replace front with bottom)
+
+.. code-block:: bash
+
+  rosrun camera_calibration cameracalibrator.py --size [SIZE] --square [SQUARESIZE] image:=/ardrone/front/image_raw camera:=/ardrone/front
+
+After successful calibration, press the `commit` button in the UI. The driver will receive the data from the camera calibration node, then will save the information by default in ``~/.ros/camera_info/ardrone_front.yaml``. From this point on, whenever you run the driver on the same computer this file will be loaded automatically by the driver and its information will be published to appropriate `camera_info` topic. Sample calibration files for AR-Drone 2.0's cameras are provided in ``data/camera_info`` folder.
+
+Can I control multiple drones using a single PC? or can I make my drone connect to a wireless router?
+------------------------------------------------------------------------------------------------------------
+
+Since version 1.4, the driver supports connecting to multiple AR-Drones from a single PC. Thanks to efforts and patches provided by @kbogert. For more information please check this `wiki page <https://github.com/AutonomyLab/ardrone_autonomy/wiki/Multiple-AR-Drones>`_.

docs/Makefile

@@ -0,0 +1,177 @@
+# Makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+PAPER         =
+BUILDDIR      = _build
+
+# User-friendly check for sphinx-build
+ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1)
+$(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from http://sphinx-doc.org/)
+endif
+
+# Internal variables.
+PAPEROPT_a4     = -D latex_paper_size=a4
+PAPEROPT_letter = -D latex_paper_size=letter
+ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+# the i18n builder cannot share the environment and doctrees with the others
+I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+
+.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
+
+help:
+	@echo "Please use \`make <target>' where <target> is one of"
+	@echo "  html       to make standalone HTML files"
+	@echo "  dirhtml    to make HTML files named index.html in directories"
+	@echo "  singlehtml to make a single large HTML file"
+	@echo "  pickle     to make pickle files"
+	@echo "  json       to make JSON files"
+	@echo "  htmlhelp   to make HTML files and a HTML help project"
+	@echo "  qthelp     to make HTML files and a qthelp project"
+	@echo "  devhelp    to make HTML files and a Devhelp project"
+	@echo "  epub       to make an epub"
+	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
+	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
+	@echo "  latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
+	@echo "  text       to make text files"
+	@echo "  man        to make manual pages"
+	@echo "  texinfo    to make Texinfo files"
+	@echo "  info       to make Texinfo files and run them through makeinfo"
+	@echo "  gettext    to make PO message catalogs"
+	@echo "  changes    to make an overview of all changed/added/deprecated items"
+	@echo "  xml        to make Docutils-native XML files"
+	@echo "  pseudoxml  to make pseudoxml-XML files for display purposes"
+	@echo "  linkcheck  to check all external links for integrity"
+	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
+
+clean:
+	rm -rf $(BUILDDIR)/*
+
+html:
+	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
+
+dirhtml:
+	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
+
+singlehtml:
+	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
+	@echo
+	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
+
+pickle:
+	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
+	@echo
+	@echo "Build finished; now you can process the pickle files."
+
+json:
+	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
+	@echo
+	@echo "Build finished; now you can process the JSON files."
+
+htmlhelp:
+	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
+	@echo
+	@echo "Build finished; now you can run HTML Help Workshop with the" \
+	      ".hhp project file in $(BUILDDIR)/htmlhelp."
+
+qthelp:
+	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
+	@echo
+	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
+	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
+	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/ardrone_autonomy.qhcp"
+	@echo "To view the help file:"
+	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/ardrone_autonomy.qhc"
+
+devhelp:
+	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
+	@echo
+	@echo "Build finished."
+	@echo "To view the help file:"
+	@echo "# mkdir -p $$HOME/.local/share/devhelp/ardrone_autonomy"
+	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/ardrone_autonomy"
+	@echo "# devhelp"
+
+epub:
+	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
+	@echo
+	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
+
+latex:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo
+	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
+	@echo "Run \`make' in that directory to run these through (pdf)latex" \
+	      "(use \`make latexpdf' here to do that automatically)."
+
+latexpdf:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo "Running LaTeX files through pdflatex..."
+	$(MAKE) -C $(BUILDDIR)/latex all-pdf
+	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+latexpdfja:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo "Running LaTeX files through platex and dvipdfmx..."
+	$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
+	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+text:
+	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
+	@echo
+	@echo "Build finished. The text files are in $(BUILDDIR)/text."
+
+man:
+	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
+	@echo
+	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
+
+texinfo:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo
+	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
+	@echo "Run \`make' in that directory to run these through makeinfo" \
+	      "(use \`make info' here to do that automatically)."
+
+info:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo "Running Texinfo files through makeinfo..."
+	make -C $(BUILDDIR)/texinfo info
+	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
+
+gettext:
+	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
+	@echo
+	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
+
+changes:
+	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
+	@echo
+	@echo "The overview file is in $(BUILDDIR)/changes."
+
+linkcheck:
+	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
+	@echo
+	@echo "Link check complete; look for any errors in the above output " \
+	      "or in $(BUILDDIR)/linkcheck/output.txt."
+
+doctest:
+	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
+	@echo "Testing of doctests in the sources finished, look at the " \
+	      "results in $(BUILDDIR)/doctest/output.txt."
+
+xml:
+	$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
+	@echo
+	@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
+
+pseudoxml:
+	$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
+	@echo
+	@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."

docs/commands.rst

@@ -0,0 +1,37 @@
+============================
+Sending Commands to AR-Drone
+============================
+
+The drone will `takeoff`, `land` or `emergency stop/reset` if a ROS `std_msgs/Empty <http://docs.ros.org/indigo/api/std_msgs/html/msg/Empty.html>`_ message is published to ``ardrone/takeoff``, ``ardrone/land`` and ``ardrone/reset`` topics respectively.
+
+In order to fly the drone after takeoff, you can publish a message of type `geometry_msgs::Twist <http://www.ros.org/doc/api/geometry_msgs/html/msg/Twist.html>`_ to the ``cmd_vel`` topic::
+
+
+    -linear.x: move backward
+    +linear.x: move forward
+    -linear.y: move right
+    +linear.y: move left
+    -linear.z: move down
+    +linear.z: move up
+
+    -angular.z: turn left
+    +angular.z: turn right
+
+The range for each component should be between -1.0 and 1.0. The maximum range can be configured using ROS Parameters_ discussed later in this document. 
+
+Hover Modes
+-----------
+
+``geometry_msgs::Twist`` has two other member variables ``angular.x`` and ``angular.y`` which can be used to enable/disable "auto-hover" mode. "auto-hover" is enabled when all six components are set to **zero**. If you want the drone not to enter "auto hover" mode in cases you set the first four components to zero, set `angular.x` and `angular.y` to arbitrary **non-zero** values.
+
+Coordinate Frames
+-----------------
+
+.. warning::
+    Outdated sections: tf_prefix is deprecated. odom is not mentioned here.
+
+The driver publishes three `TF <http://www.ros.org/wiki/tf>`_ transforms between these frames: ``${tf_prefix}/${base_prefix}_link``, ``${tf_prefix}/${base_prefix}_frontcam`` and ``${tf_prefix}/${base_prefix}_bottomcam``. The ``${tf_prefix}`` is ROS standard way to handle multi-robot `tf` trees and can be set using `tf_prefix` parameters, by default it is empty. The `${base_link}` is the shared name prefix of all three reference frames and can also be set using parameters, by default it has the value of `ardrone_base`. Using default parameters, the three frames would be: `ardrone_base_link`, `ardrone_base_frontcam` and `ardrone_base_bottomcam`.
+
+The `frame_id` field in header of all published topics (navdata, imu, cameras) will have the appropriate frame names. All frames are `ROS REP 103 <http://www.ros.org/reps/rep-0103.html>`_ compatible.
+
+