Documentation

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TODO

• Translate relative point on pgm to coordinate frame
• Camera move subscriber
• Map image to map location translation

Requirements

git clone git@github.com:PatrickCPE/stretch_uml.git PATHTOCATKIN/catkin_ws/

sudo apt-get install python3-pyqt5
sudo apt-get install qtcreator pyqt5-dev-tools
sudo apt-get install qttools5-dev-tools

cd PATHTOCATKIN/catkin_ws/src/stretch_uml
pip3 install -r requirements.txt

# ROS Noetic must be installed. Instructions for this are beyond scope.

Editing GUI Interface

cd stretch_uml/src/stretch_uml/
# Launch QT Designer
designer
# Open .ui file. Save edits when complete
pyuic5 -x stretch.ui -o stretch_ui_main_window.py

Usage

# Shell 1
roscore
# Shell 2
rosrun stretch_uml stretch_main_window.py
# Shell 3
rosrun stretch_uml map_subscriber

Building Docs

$ cd stretch_uml/docs
$ make clean # If needed
$ make html
$ xdg-open build/html/index.html # Open it in a browser

Updating Docs

$ cd stretch_uml/docs
$ sphinx-apidoc ../scripts/FOLDERNAME -o source/modules
$ sphinx-apidoc ../src/stretch_uml -o source/modules
$ cd source/modules
$ vim modules.rst
# Add the new .rst files name to the modules.rst file as shown
$ cd ..
$ vim conf.py
# append the syspath for any new module added as shown

• Warning about duplicate contents is fine as long as it looks correct
• Warning about document or segment not beginning with a transition is fine as long as it looks correct

Docs Initial Setup

$ cd stretch_uml
$ mkdir docs
$ cd docs
$ sphinx-quickstart
$ mkdir source
$ cd source
$ mkdir modules
$ sphinx-apidoc ../../scripts/PACKAGENAME -o modules

• Add required modules to the conf.py file
• Edit conf.py to support .md
• Change theme to desired and set code highlight color
• Rerun apidoc and adjust modules.py by hand when updating
• Warning about duplicate contents is fine as long as it looks correct