doc: move docs to main branch

README.md

@@ -2,7 +2,6 @@
 
 [`FogROS2`](https://github.com/BerkeleyAutomation/FogROS2) extends ROS 2 for cloud deployment of computational graphs in a security-conscious manner. It allows researchers to easily and securely deploy ROS abstractions across cloud providers with minimal effort, thus gaining access to additional computing substrates including CPU cores, GPUs, FPGAs, or TPUs, as well as pre-deployed software made available by other researchers. To do so, `FogROS2` extends the ROS 2 launch system, introducing additional syntax to allow roboticists to specify at launch time which components of their architecture will be deployed to the cloud and which components will be deployed on the edge.
 
-
 - [FogROS2](#fogros2)
   - [Install](#install)
     - [Quickstart](#quickstart)
@@ -16,13 +15,18 @@
   - [Setting Up Automatic Image Transport](#setting-up-automatic-image-transport)
   - [Command Line Interface](#command-line-interface)
   - [Some Common Issues](#some-common-issues)
-  - [Running Examples:](#running-examples)
+  - [Running Examples](#running-examples)
 
 ## Install
+
 ### Quickstart
+
 If you are new to ROS and Ubuntu, and want to install FogROS 2 (and ROS 2) and its requisites from scratch, follow instructions [here](https://github.com/BerkeleyAutomation/FogROS2/blob/humble/QUICKSTART.md).
+
 ### Docker (Recommended)
+
 Alternatively, you can simplify reproduction using an OS virtualization environment with Docker:
+
 ```bash
 git clone -b humble https://github.com/BerkeleyAutomation/FogROS2
 cd FogROS2
@@ -36,22 +40,26 @@ aws configure
 #Build Docker Image
 docker build -t fogros2 .
 ```
+
 By default, this command will build a docker image for ROS Rolling and Ubuntu 22.04 (jammy). These defaults can be changed using the `--build-arg` flag (e.g., `docker build -t fogros2:focal-humble . --build-arg UBUNTU_DISTRO=focal --build-arg ROS_DISTRO=humble` will build a ROS Humble image with Ubuntu 20.04 (focal)).
 *Note: the Dockerfile is cooked for x86_64. If you're using a workstation with an Arm-based architecture (e.g. an M1), build the container with the `docker build --platform linux/amd64 -t fogros2 .`*.
 
 ### Natively
+
 `FogROS2` is actually a ROS meta-package, so you can just fetch it in your workspace, build it, source the workspace as an overlay and start using its capabilities.
 
 #### Install Dependencies
 
 ROS 2 dependencies:
-```
+
+```bash
 # If using Ubuntu 22.04
 sudo apt install ros-rolling-rmw-cyclonedds-cpp
 ```
 
 FogROS 2 dependencies:
-```
+
+```bash
 sudo apt install python3-pip wireguard unzip
 sudo pip3 install wgconfig boto3 paramiko scp
 
@@ -72,7 +80,6 @@ colcon build  # re-build the workspace
 source install/setup.bash
 ```
 
-
 ## Launch ROS 2 computational graphs in the cloud
 
 ### Docker (Recommended)
@@ -88,7 +95,9 @@ ros2 launch fogros2_examples talker.aws.launch.py
 (*Note: the Dockerfile is cooked for x86_64. If you're using a workstation with an Arm-based architecture (e.g. an M1), run the container with the `docker run -it --platform linux/amd64 --rm --net=host --cap-add=NET_ADMIN fogros2`*.)
 
 ### Native
+
 Note: These commands must be run from the root of your ROS workspace.
+
 ```bash
 source /opt/ros/<your-ros2-distro>/setup.bash
 source install/setup.bash
@@ -99,25 +108,27 @@ ros2 launch fogros2_examples talker.aws.launch.py
 ```
 
 ## Run your own robotics applications
+
 If using, for example, Docker take the following steps: 
 
 Step 1: Mount your robotics application to docker's folder.
 For example,
-```
+
+```bash
 docker run -it --rm \
     --net=host --cap-add=NET_ADMIN \
        ....
     -v FOLDER_IN_YOUR_LOCAL_DIR:/home/root/fog_ws/src/YOUR_PKG_NAME \
        ...
     keplerc/ros2:latest /bin/bash
 ```
-You may also `git clone` your development repo to the docker container instead.
 
+You may also `git clone` your development repo to the docker container instead.
 
 Step 2: Write the FogROS2 launch file. Examples of launch files can be found in the talker*.launch.py [here](https://github.com/BerkeleyAutomation/FogROS2/tree/humble/fogros2_examples/launch).
 
-
 ## Setting Up Automatic Image Transport
+
 Step 1: Identify all topics that need to use a compressed transport.
 
 Step 2: In a `fogros2.CloudNode`, add the parameter `stream_topics=[]`, where `stream_topics` is a list of tuples
@@ -138,6 +149,7 @@ Adding the above argument to a `fogros2.CloudNode` makes the topic `/camera/imag
 Please note that all cloud nodes that are expecting raw images will be remapped to `TOPIC_NAME/cloud` to remove any topic naming conflicts. (TODO: Automate remapping)
 
 ## Command Line Interface
+
 We currently support the following CLI commands for easier debugging and development.
 
 ```bash
@@ -155,9 +167,11 @@ ros2 fog delete all
 ```
 
 ## Some Common Issues
-1. Warning: _2 packages has stderr outputs: fogros2 fogros2_examples_ after running colcon build. This warning occurs in Ubuntu 22.04 (jammy) builds, but does not affect functionality. See https://github.com/BerkeleyAutomation/FogROS2/issues/45. Your installation should still work.  
-2. _[WARN] [1652044293.921367226] [fogros2.scp]: [Errno None] Unable to connect to port 22 on xx.xx.xx.xxx, retrying..._ . This warning occurs when AWS has not yet started the instance. This message should eventually be replaced by _SCP Connected!_ once the instance is started.
-3. _WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behavior with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv_. This warning is often seen when installing packages on the cloud instance, but can be ignored.
 
-## Running Examples:
+1. Warning: *2 packages has stderr outputs: fogros2 fogros2_examples* after running colcon build. This warning occurs in Ubuntu 22.04 (jammy) builds, but does not affect functionality. See <https://github.com/BerkeleyAutomation/FogROS2/issues/45>. Your installation should still work.  
+2. *[WARN] [1652044293.921367226] [fogros2.scp]: [Errno None] Unable to connect to port 22 on xx.xx.xx.xxx, retrying...* . This warning occurs when AWS has not yet started the instance. This message should eventually be replaced by *SCP Connected!* once the instance is started.
+3. *WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behavior with the system package manager. It is recommended to use a virtual environment instead: <https://pip.pypa.io/warnings/venv>*. This warning is often seen when installing packages on the cloud instance, but can be ignored.
+
+## Running Examples
+
 We have used FogROS for 3 example use-cases (motion planning, grasp planning, and SLAM map building). Please see our [examples repo](https://github.com/BerkeleyAutomation/fogros2-examples) for these and how to run them.

docs/.gitignore

@@ -0,0 +1,5 @@
+_site
+.sass-cache
+.jekyll-cache
+.jekyll-metadata
+vendor

docs/404.html

@@ -0,0 +1,25 @@
+---
+permalink: /404.html
+layout: default
+---
+
+<style type="text/css" media="screen">
+  .container {
+    margin: 10px auto;
+    max-width: 600px;
+    text-align: center;
+  }
+  h1 {
+    margin: 30px 0;
+    font-size: 4em;
+    line-height: 1;
+    letter-spacing: -1px;
+  }
+</style>
+
+<div class="container">
+  <h1>404</h1>
+
+  <p><strong>Page not found :(</strong></p>
+  <p>The requested page could not be found.</p>
+</div>

docs/Gemfile

@@ -0,0 +1,35 @@
+source "https://rubygems.org"
+# Hello! This is where you manage which Jekyll version is used to run.
+# When you want to use a different version, change it below, save the
+# file and run `bundle install`. Run Jekyll with `bundle exec`, like so:
+#
+#     bundle exec jekyll serve
+#
+# This will help ensure the proper Jekyll version is running.
+# Happy Jekylling!
+# gem "jekyll", "~> 4.2.2"
+# This is the default theme for new Jekyll sites. You may change this to anything you like.
+gem "minima", "~> 2.5"
+# If you want to use GitHub Pages, remove the "gem "jekyll"" above and
+# uncomment the line below. To upgrade, run `bundle update github-pages`.
+gem "github-pages", group: :jekyll_plugins
+# If you have any plugins, put them here!
+group :jekyll_plugins do
+  gem "jekyll-feed", "~> 0.12"
+end
+
+# Windows and JRuby does not include zoneinfo files, so bundle the tzinfo-data gem
+# and associated library.
+platforms :mingw, :x64_mingw, :mswin, :jruby do
+  gem "tzinfo", "~> 1.2"
+  gem "tzinfo-data"
+end
+
+# Performance-booster for watching directories on Windows
+gem "wdm", "~> 0.1.1", :platforms => [:mingw, :x64_mingw, :mswin]
+
+# Lock `http_parser.rb` gem to `v0.6.x` on JRuby builds since newer versions of the gem
+# do not have a Java counterpart.
+gem "http_parser.rb", "~> 0.6.0", :platforms => [:jruby]
+
+gem "webrick", "~> 1.7"