Add platforms information

Author: RPS98

docs/_03_aerial_platforms/_crazyflie/index.rst

@@ -60,9 +60,8 @@ Install platform package
 
    sudo apt install ros-humble-as2-platform-crazyflie
 
-.. warning:: This package is not available for binary installation yet. Cooming soon.
 
-* For source installation, clone the platform repository into your workspace and build it. 
+* For source installation, follow the steps below:
 
 .. code-block:: bash
 
@@ -74,10 +73,6 @@ Install platform package
     colcon build --packages-up-to as2_platform_crazyflie
 
 
-See it in :ref:`Aerostack2 installation guide <getting_started_ubuntu_installation_source>`.
-
-
-
 .. _aerial_platform_crazyflie_as2_common_interface:
 
 ---------------------------
@@ -158,60 +153,39 @@ In order to map the adresses of the crazyflie(s) we just configured to the input
 In this case, we are mapping two Crazyflies with uri's ``radio://0/80/2M/E7E7E7E700`` and ``radio://0/80/2M/E7E7E7E701`` for namespaces ``cf0`` and ``cf1`` respectively.
 As you can see for the radio id part of the uri, the same Crazyradio is going to be used for both. 
 
-This configuration file's path shall serve as an input to the platform launch parameter ``swarm_config_file``. Note that this platform is launched only once, regardless of the number of crazyflies beeing used. 
-
-Aerostack2 Crazyflie platform provides a launch file, which parameters are:
-
-.. list-table:: Gazebo Platform Parameters
-   :widths: 50 50 50
-   :header-rows: 1
-
-   * - Parameter
-     - Type
-     - Description
-   * - swarm_config_file
-     - string
-     - Path to the swarm URI's configuration file.
-   * - control_modes_file
-     - string
-     - Optional. File path with the control modes configuration. Default the one in the package.
-   * - external_odom
-     - bool
-     - Optional. Use external odometry source. Default false.
-   * - external_odom_topic
-     - bool
-     - Optional. Topic name of external odometry source. Default 'external_odom'.
-   * - controller_type
-     - int
-     - Optional. Controller type: Any(0), PID(1), Mellinger(2), INDI(3). Default PID.
-   * - estimator_type
-     - int
-     - Optional. Estimator type: Any(0), complementary(1), kalman(2). Default Kalman.
-
-Example of launch command with a Crazyflies with flow deck:
+.. This configuration file's path shall serve as an input to the platform launch parameter ``swarm_config_file``. Note that this platform is launched only once, regardless of the number of crazyflies beeing used. 
+
+.. .. list-table:: Gazebo Platform Parameters
+..    :widths: 50 50 50
+..    :header-rows: 1
+
+..    * - Parameter
+..      - Type
+..      - Description
+..    * - swarm_config_file
+..      - string
+..      - Path to the swarm URI's configuration file.
+..    * - control_modes_file
+..      - string
+..      - Optional. File path with the control modes configuration. Default the one in the package.
+..    * - external_odom
+..      - bool
+..      - Optional. Use external odometry source. Default false.
+..    * - external_odom_topic
+..      - bool
+..      - Optional. Topic name of external odometry source. Default 'external_odom'.
+..    * - controller_type
+..      - int
+..      - Optional. Controller type: Any(0), PID(1), Mellinger(2), INDI(3). Default PID.
+..    * - estimator_type
+..      - int
+..      - Optional. Estimator type: Any(0), complementary(1), kalman(2). Default Kalman.
+
+Aerostack2 provides a launch file for this platform:
 
 .. code-block:: bash
 
-  ros2 launch as2_platform_crazyflie crazyflie_swarm_launch.py swarm_config_file:=uris_yaml_path
-
-Example of launch command with a Crazyflies with motion capture system:
-
-.. code-block:: bash
-
-  ros2 launch as2_platform_crazyflie crazyflie_swarm_launch.py swarm_config_file:=uris_yaml_path external_odom:=true external_odom_topic:=mocap_topic_name
-
-
-
-.. _aerial_platform_crazyflie_platform_examples:
-
---------
-Examples
---------
-
-Basic example
-=============
+  ros2 launch as2_platform_crazyflie crazyflie_swarm_launch.py
 
-.. toctree::
-   :maxdepth: 1
 
-   ../../_02_examples/crazyflie/project_crazyflie/index.rst
+To see all the **available parameters**, use the **'-s'** flag to show the description of each parameter in the launch file.

docs/_03_aerial_platforms/_dji/index.rst renamed to docs/_03_aerial_platforms/_dji_osdk/index.rst

@@ -1,56 +1,46 @@
-.. _aerial_platform_dji_matrice:
+.. _aerial_platform_dji_matrice_osdk_osdk:
 
-==================
-DJI Matrice Series
-==================
+=======================
+DJI Matrice Series OSDK
+=======================
 
 .. contents:: Table of Contents
    :depth: 3
    :local:
 
 
 
-.. _aerial_platform_dji_matrice_introduction:
+.. _aerial_platform_dji_matrice_osdk_introduction:
 
 ------------
 Introduction
 ------------
 
-DJI Matrice Series using `DJI Onboard SDK <https://github.com/dji-sdk/Onboard-SDK>`_ has compatibility with DJI M210 V2, M210 RTX V2 and M300 RTK.
+DJI Matrice Series using `DJI Onboard OSDK <https://github.com/dji-sdk/Onboard-SDK>`_ has compatibility with DJI M210 V2, M210 RTX V2 and M300 RTK.
 
 .. figure:: resources/DJI_M300.jpg
    :scale: 15
    :class: with-shadow
 
 
 
-.. _aerial_platform_dji_matrice_installation:
+.. _aerial_platform_dji_matrice_osdk_installation:
 
 ------------
 Installation
 ------------
 
-* For binary installation, install by running:
-
-.. code-block:: bash
-
-   sudo apt install ros-humble-as2-platform-dji-osdk
-
-.. warning:: This package is not available for binary installation yet. Cooming soon.
+.. _aerial_platform_matrice_osdk_installation_prerequisites:
 
-* For source installation, clone the platform repository into your workspace and build it. 
+Prerequisites
+=============
 
-.. code-block:: bash
+Refer to the `DJI Onboard SDK documentation <https://developer.dji.com/onboard-sdk/>`_ for the harware and software requirements.
 
-    # If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
-    cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
-    git clone [email protected]:aerostack2/as2_platform_dji_osdk.git
-    cd ~/aerostack2_ws
-    rosdep install as2_platform_dji_osdk --from-paths src --ignore-src -r -y
-    colcon build --packages-up-to as2_platform_dji_osdk
+See `DJI Device Connection tutorial <https://developer.dji.com/onboard-sdk/documentation/quickstart/device-connection.html>`_ for connect onboard computer with Aerostack2 to DJI Matrice aircracft.
 
 
-.. _aerial_platform_dji_matrice_installation_package:
+.. _aerial_platform_dji_matrice_osdk_installation_package:
 
 Install platform package
 ========================
@@ -61,22 +51,20 @@ Install platform package
 
    sudo apt install ros-humble-as2-platform-dji-osdk
 
-.. warning:: This package is not available for binary installation yet. Cooming soon.
 
-* For source installation, clone Aerostack2 repository into your workspace and build it. See it in :ref:`Aerostack2 installation guide <getting_started_ubuntu_installation_source>`.
+* For source installation, follow the steps below:
 
+.. code-block:: bash
 
-
-.. _aerial_platform_dji_matrice_installation_conection:
-
-Setup connection with DJI Matrice
-=================================
-
-See `DJI Device Connection tutorial <https://developer.dji.com/onboard-sdk/documentation/quickstart/device-connection.html>`_ for connect onboard computer with Aerostack2 to DJI Matrice aircracft.
-
+    # If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
+    cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
+    git clone [email protected]:aerostack2/as2_platform_dji_osdk.git
+    cd ~/aerostack2_ws
+    rosdep install as2_platform_dji_osdk --from-paths src --ignore-src -r -y
+    colcon build --packages-up-to as2_platform_dji_osdk
 
 
-.. _aerial_platform_dji_matrice_as2_common_interface:
+.. _aerial_platform_dji_matrice_osdk_as2_common_interface:
 
 ---------------------------
 Aerostack2 Common Interface
@@ -86,7 +74,7 @@ For more details about platform control modes and sensors, see :ref:`Aerostack2
 
 
 
-.. _aerial_platform_dji_matrice_as2_common_interface_control_modes:
+.. _aerial_platform_dji_matrice_osdk_as2_common_interface_control_modes:
 
 Control Modes
 =============
@@ -112,7 +100,8 @@ These are supported control modes:
 
 
 
-.. _aerial_platform_dji_matrice_as2_common_interface_sensors:
+
+.. _aerial_platform_dji_matrice_osdk_as2_common_interface_sensors:
 
 Sensors
 =======
@@ -138,10 +127,12 @@ These are supported sensors:
    * - GPS
      - sensor_measurements/gps
      - sensor_msgs/NavSatFix
+   * - Camera
+     - sensor_measurements/camera
+     - sensor_msgs/Image
 
 
-
-.. _aerial_platform_dji_matrice_platform_launch:
+.. _aerial_platform_dji_matrice_osdk_platform_launch:
 
 ---------------
 Platform Launch
@@ -176,9 +167,11 @@ Aerostack2 DJI OSDK platform provides a launch file, which parameters are:
      - bool
      - Optional, default false. Use for simulation with `DJI Assistant 2 <https://www.dji.com/es/downloads/softwares/assistant-dji-2-for-matrice>`_.
 
-Example of launch command:
+Aerostack2 provides a launch file for this platform:
 
 .. code-block:: bash
 
   ros2 launch as2_platform_dji_osdk as2_platform_dji_osdk_launch.py namespace:=drone1 dji_app_config:=UserConfig.txt
 
+
+To see all the **available parameters**, use the **'-s'** flag to show the description of each parameter in the launch file.