From f2558f27035bc0743ef7d2caab1dd73f2687886f Mon Sep 17 00:00:00 2001 From: Steven Shamlian Date: Tue, 19 Oct 2021 14:42:46 -0400 Subject: [PATCH] Documentation updates MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Changed license, added lots of ® symbols --- LICENSE | 201 ---------------------------------- LICENSE.txt | 10 ++ README.md | 2 +- docs/api/docking.md | 10 +- docs/api/reflexes.md | 4 +- docs/api/ros2.md | 2 +- docs/api/safety.md | 8 +- docs/index.md | 4 +- docs/robot-setup/robot.md | 2 +- docs/robot-setup/webserver.md | 4 +- docs/sim/setup.md | 2 +- mkdocs.yml | 6 +- 12 files changed, 32 insertions(+), 223 deletions(-) delete mode 100644 LICENSE create mode 100644 LICENSE.txt diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 261eeb9e..00000000 --- a/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. For the purposes of this definition, - "control" means (i) the power, direct or indirect, to cause the - direction or management of such entity, whether by contract or - otherwise, or (ii) ownership of fifty percent (50%) or more of the - outstanding shares, or (iii) beneficial ownership of such entity. - - "You" (or "Your") shall mean an individual or Legal Entity - exercising permissions granted by this License. - - "Source" form shall mean the preferred form for making modifications, - including but not limited to software source code, documentation - source, and configuration files. - - "Object" form shall mean any form resulting from mechanical - transformation or translation of a Source form, including but - not limited to compiled object code, generated documentation, - and conversions to other media types. - - "Work" shall mean the work of authorship, whether in Source or - Object form, made available under the License, as indicated by a - copyright notice that is included in or attached to the work - (an example is provided in the Appendix below). - - "Derivative Works" shall mean any work, whether in Source or Object - form, that is based on (or derived from) the Work and for which the - editorial revisions, annotations, elaborations, or other modifications - represent, as a whole, an original work of authorship. For the purposes - of this License, Derivative Works shall not include works that remain - separable from, or merely link (or bind by name) to the interfaces of, - the Work and Derivative Works thereof. - - "Contribution" shall mean any work of authorship, including - the original version of the Work and any modifications or additions - to that Work or Derivative Works thereof, that is intentionally - submitted to Licensor for inclusion in the Work by the copyright owner - or by an individual or Legal Entity authorized to submit on behalf of - the copyright owner. For the purposes of this definition, "submitted" - means any form of electronic, verbal, or written communication sent - to the Licensor or its representatives, including but not limited to - communication on electronic mailing lists, source code control systems, - and issue tracking systems that are managed by, or on behalf of, the - Licensor for the purpose of discussing and improving the Work, but - excluding communication that is conspicuously marked or otherwise - designated in writing by the copyright owner as "Not a Contribution." - - "Contributor" shall mean Licensor and any individual or Legal Entity - on behalf of whom a Contribution has been received by Licensor and - subsequently incorporated within the Work. - - 2. Grant of Copyright License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - copyright license to reproduce, prepare Derivative Works of, - publicly display, publicly perform, sublicense, and distribute the - Work and such Derivative Works in Source or Object form. - - 3. Grant of Patent License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - (except as stated in this section) patent license to make, have made, - use, offer to sell, sell, import, and otherwise transfer the Work, - where such license applies only to those patent claims licensable - by such Contributor that are necessarily infringed by their - Contribution(s) alone or by combination of their Contribution(s) - with the Work to which such Contribution(s) was submitted. If You - institute patent litigation against any entity (including a - cross-claim or counterclaim in a lawsuit) alleging that the Work - or a Contribution incorporated within the Work constitutes direct - or contributory patent infringement, then any patent licenses - granted to You under this License for that Work shall terminate - as of the date such litigation is filed. - - 4. Redistribution. You may reproduce and distribute copies of the - Work or Derivative Works thereof in any medium, with or without - modifications, and in Source or Object form, provided that You - meet the following conditions: - - (a) You must give any other recipients of the Work or - Derivative Works a copy of this License; and - - (b) You must cause any modified files to carry prominent notices - stating that You changed the files; and - - (c) You must retain, in the Source form of any Derivative Works - that You distribute, all copyright, patent, trademark, and - attribution notices from the Source form of the Work, - excluding those notices that do not pertain to any part of - the Derivative Works; and - - (d) If the Work includes a "NOTICE" text file as part of its - distribution, then any Derivative Works that You distribute must - include a readable copy of the attribution notices contained - within such NOTICE file, excluding those notices that do not - pertain to any part of the Derivative Works, in at least one - of the following places: within a NOTICE text file distributed - as part of the Derivative Works; within the Source form or - documentation, if provided along with the Derivative Works; or, - within a display generated by the Derivative Works, if and - wherever such third-party notices normally appear. The contents - of the NOTICE file are for informational purposes only and - do not modify the License. You may add Your own attribution - notices within Derivative Works that You distribute, alongside - or as an addendum to the NOTICE text from the Work, provided - that such additional attribution notices cannot be construed - as modifying the License. - - You may add Your own copyright statement to Your modifications and - may provide additional or different license terms and conditions - for use, reproduction, or distribution of Your modifications, or - for any such Derivative Works as a whole, provided Your use, - reproduction, and distribution of the Work otherwise complies with - the conditions stated in this License. - - 5. Submission of Contributions. Unless You explicitly state otherwise, - any Contribution intentionally submitted for inclusion in the Work - by You to the Licensor shall be under the terms and conditions of - this License, without any additional terms or conditions. - Notwithstanding the above, nothing herein shall supersede or modify - the terms of any separate license agreement you may have executed - with Licensor regarding such Contributions. - - 6. Trademarks. This License does not grant permission to use the trade - names, trademarks, service marks, or product names of the Licensor, - except as required for reasonable and customary use in describing the - origin of the Work and reproducing the content of the NOTICE file. - - 7. Disclaimer of Warranty. Unless required by applicable law or - agreed to in writing, Licensor provides the Work (and each - Contributor provides its Contributions) on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or - implied, including, without limitation, any warranties or conditions - of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A - PARTICULAR PURPOSE. You are solely responsible for determining the - appropriateness of using or redistributing the Work and assume any - risks associated with Your exercise of permissions under this License. - - 8. Limitation of Liability. In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - APPENDIX: How to apply the Apache License to your work. - - To apply the Apache License to your work, attach the following - boilerplate notice, with the fields enclosed by brackets "[]" - replaced with your own identifying information. (Don't include - the brackets!) The text should be enclosed in the appropriate - comment syntax for the file format. We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 00000000..185a45a8 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,10 @@ +Copyright 2021 iRobot Corporation. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/README.md b/README.md index 6f5cae30..6abe481c 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # create3_docs -Documentation for the iRobot Create3 robot. +Documentation for the iRobot® Create® 3 Educational Robot. ### Build the docs locally diff --git a/docs/api/docking.md b/docs/api/docking.md index b515bb31..0948a504 100644 --- a/docs/api/docking.md +++ b/docs/api/docking.md @@ -1,6 +1,6 @@ -# Create3 Docking +# Create® 3 Docking -The Create3 robot is equipped with a docking station to recharge it between experiments. +The Create® 3 robot is equipped with a docking station to recharge it between experiments. Through the ROS 2 APIs users can command docking and undocking autonomous behaviors. @@ -38,13 +38,13 @@ This action will fail if the robot is already docked. ## Docking sensor data -The Create3 robot exposes several docking-related information through its ROS 2 publications. +The Create® 3 robot exposes several docking-related information through its ROS 2 publications. These should allow users to write their own algorithms taking into account the presence of the dock in the environment and even to write their own docking and undocking procedures. #### IR opcodes -The Create3 docking station transmit several IR signals. -The Create3 robot is equipped with two different sensors that are capable of detecting them. +The Create® 3 docking station transmit several IR signals. +The Create® 3 robot is equipped with two different sensors that are capable of detecting them. ![Docking signals](data/create3_dock_codes.png) diff --git a/docs/api/reflexes.md b/docs/api/reflexes.md index ea916f0e..2d5a5cc8 100644 --- a/docs/api/reflexes.md +++ b/docs/api/reflexes.md @@ -1,10 +1,10 @@ # Reflexes -With the word "reflex" we denote a set of autonomous reactive behaviors that the Create3 robot will trigger when it detects obstacles or hazards. +With the word "reflex" we denote a set of autonomous reactive behaviors that the Create® 3 robot will trigger when it detects obstacles or hazards. Reflexes are high-priority behaviors and will temporarily override any user-provided command for their short duration. -Reflexes can be enabled or disabled on the Create3 using the corresponding ROS 2 parameters exposed by the `motion_control` ROS 2 node. +Reflexes can be enabled or disabled on the Create® 3 using the corresponding ROS 2 parameters exposed by the `motion_control` ROS 2 node. ## Reflex parameters diff --git a/docs/api/ros2.md b/docs/api/ros2.md index 5253dcb0..7cf896f5 100644 --- a/docs/api/ros2.md +++ b/docs/api/ros2.md @@ -1,6 +1,6 @@ # ROS 2 APIs -The Create3 robot is based on ROS 2 and, as such, it exposes all its user-facing APIs through ROS 2 entities (topics, services, actions and parameters). +The Create® 3 robot is based on ROS 2 and, as such, it exposes all its user-facing APIs through ROS 2 entities (topics, services, actions and parameters). The purpose of this page is to give a quick overview of these ROS 2 APIs. If you are interested in more details, have a look at the other pages in this section. diff --git a/docs/api/safety.md b/docs/api/safety.md index c45263e7..d1ca8680 100644 --- a/docs/api/safety.md +++ b/docs/api/safety.md @@ -1,6 +1,6 @@ -# Create3 Safety Overrides +# Create® 3 Safety Overrides -By default, the Create3 robot has some safety features enabled. +By default, the Create® 3 robot has some safety features enabled. Their purpose is to make sure that the robot does not get into dangerous sitations and it is able to detect and react properly to cliff hazards. Safety features are configurable by the user through a ROS 2 parameter. @@ -22,7 +22,7 @@ The following sections briefly describe what the safety features do. ## Backup Limit -The Create3 robot is equipped with cliff sensors, but they are located only in the front of the robot. +The Create® 3 robot is equipped with cliff sensors, but they are located only in the front of the robot. This means that the robot is not able to detect cliff hazards while driving backward. In order to make the robot safe, thus we need to make sure that the robot never moves backward more than what it's safe to do. @@ -30,7 +30,7 @@ Under standard circumstances, the robot is allowed to briefly move backward only If the robot is kidnapped (i.e. first lifted by the user and then placed somewhere), the backup limit will immediately trigger. -The Create3 robot signals to the user when the backup limit is about to be triggered in multiple ways: +The Create® 3 robot signals to the user when the backup limit is about to be triggered in multiple ways: - Through the `HazardDetectionsVector` ROS 2 message: an hazard of type `BACKUP_LIMIT` will be published in the vector. - By logging a warning message. diff --git a/docs/index.md b/docs/index.md index 56ef7f0d..36dc5e92 100644 --- a/docs/index.md +++ b/docs/index.md @@ -1,10 +1,10 @@ -# Welcome to iRobot Create3 +# Welcome to the iRobot® Create® 3 Educational Robot TODO: add pictures and videos ### Overview -What is Create3? +What is iRobot® Create® 3? ### Useful links diff --git a/docs/robot-setup/robot.md b/docs/robot-setup/robot.md index d3d0e326..75a6474b 100644 --- a/docs/robot-setup/robot.md +++ b/docs/robot-setup/robot.md @@ -1,3 +1,3 @@ # The Robot -This page describes the Create3 robot. +This page describes the iRobot® Create® 3 Educational Robot. diff --git a/docs/robot-setup/webserver.md b/docs/robot-setup/webserver.md index 2f691a46..9fefd37e 100644 --- a/docs/robot-setup/webserver.md +++ b/docs/robot-setup/webserver.md @@ -1,6 +1,6 @@ # Webserver -The Create3 webserver is a web interface for debugging an setting up your robot. +The iRobot® Create® 3 webserver is a web interface for debugging an setting up your robot. If the robot is on the same WiFi network as your laptop, then you can access the webserver opening a browser at the following address: `http://irobot-701c264ad869434e8e11deace38d2bb8.local/`. Here the string `irobot-701c264ad869434e8e11deace38d2bb8` is the hostname of your robot. @@ -11,7 +11,7 @@ Provisioning is also required for WiFi ROS 2 connectivity and to have UTC synchr ## Provisioning -Provisioning is the procedure that will connect the Create3 robot to your WiFi network. +Provisioning is the procedure that will connect the Create® 3 robot to your WiFi network. Press and hold the left ( · ) and right ( · · ) buttons for six seconds. The light ring should go cyan. diff --git a/docs/sim/setup.md b/docs/sim/setup.md index fe17fcc9..d05d0681 100644 --- a/docs/sim/setup.md +++ b/docs/sim/setup.md @@ -1,2 +1,2 @@ -# Using the Create3 Simulator +# Using the iRobot® Create® 3 Simulator diff --git a/mkdocs.yml b/mkdocs.yml index 6e833d4f..bcf1e3b7 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -1,7 +1,7 @@ -site_name: Create3 Docs -site_description: 'Documentation for the iRobot Create3 robot' +site_name: Create 3 Docs +site_description: 'Documentation for the iRobot® Create® 3 robot' site_author: 'iRobot' -#site_url: TODO +#site_url: http://edu.irobot.com/create3/ repo_name: 'iRobotEducation/create3_docs' repo_url: 'https://github.com/iRobotEducation/create3_docs'