Merge pull request #40 from fictionlab/development

Sync production with the development branch

Author: bjsowa

README.md

@@ -68,6 +68,21 @@ yarn start
 A new browser tab will open at http://localhost:3000, reflecting any changes
 made to the files.
 
+### Updating docusaurus
+
+To update Docusaurus correctly, execute the following command:
+
+```
+yarn upgrade @docusaurus -L
+```
+
+Next, remove the `yarn.lock` file along with the `node_modules` and `build` directories. After deletion, regenerate the necessary files with updated dependency versions by running:
+
+```
+yarn install
+```
+
+
 ## Editing the documentation
 
 ### Creating documents

cspell.json

@@ -23,6 +23,7 @@
         "bossard",
         "bringup",
         "Bühler",
+        "CMOS",
         "COLLADA",
         "convolutional",
         "costmap",
@@ -37,6 +38,7 @@
         "EEPROM",
         "eProsima",
         "Fiberlogy",
+        "Fibox",
         "Fictionlab",
         "Fixposition",
         "formatcheck",
@@ -178,6 +180,7 @@
         "zoomable"
     ],
     "ignoreWords": [
+        "AWUS",
         "Arboti",
         "BESTGNSSPOS",
         "CORRIMU",

docs/leo-rover/documentation/changelog.mdx

@@ -0,0 +1,134 @@
+---
+title: Leo Rover changelog
+sidebar_label: Changelog
+keywords:
+  - changelog
+  - leo rover
+  - updates
+description: >-
+  Discover the evolution of Leo Rover with changelogs for each version. Explore
+  hardware, software, and mechanical upgrades that enhance performance,
+  durability, and ease of use.
+image: /img/robots/leo/leo-rover.webp
+---
+
+import LeoRover from '../_leo-rover-product.mdx';
+
+Discover the evolution of Leo Rover with changelogs for each version. Explore
+hardware, software, and mechanical upgrades that enhance performance,
+durability, and ease of use.
+
+<LeoRover />
+
+## Leo Rover 1.9 (coming soon Q2 2025)
+
+- **General Changes:**
+
+  - Chargers no longer include Weipu plugs; a Weipu-to-barrel jack converter is
+    now shipped with each order.
+  - Each rover now features an individual ID number plate.
+
+- **Component Replacements:**
+
+  - Replaced the Raspberry Pi 4B 2GB with a Raspberry Pi 5 4GB.
+
+- **Main Electronics Box (MEB) Updates:**
+
+  - Introduced passive cooling.
+  - Added a metal plate to enhance heat dissipation.
+  - Replaced micro USB port with USB-C.
+  - Updated sponge rubber cord seal to a laser-cut rubber seal.
+  - Minor quality-of-life improvements, including hole repositioning and
+    resizing.
+
+- **Suspension System Modifications:**
+
+  - Suspension beams are now drilled and secured to the rover body with long
+    screws and torque-prevailing nuts instead of t-nuts.
+  - Removed slotted holes from motor mounts.
+  - Updated suspension beam fasteners.
+
+- **Wheel Enhancements:**
+
+  - Modified rim geometry to stiffen tires, reducing the likelihood of
+    detachment.
+
+- **Software Upgrade:**
+  - Transitioned from ROS to ROS 2.
+
+---
+
+## Leo Rover 1.8
+
+- **Component Replacements**:
+
+  - Introduced **LeoCore**, a new controller board, replacing the Core2-ROS
+    controller, designed in-house for long-term availability and reduced
+    reliance on external suppliers.
+  - Upgraded Raspberry Pi 4B 1GB to Raspberry Pi 4B 2GB.
+
+- **Hardware Improvements:**
+
+  - Implemented vibration-proof motor and LED connectors, replacing gold-pin
+    connectors.
+  - Increased power support up to 30V DC, enabling direct connection of 24V
+    batteries for improved motor performance.
+  - Integrated Inertial Measurement Unit (IMU) for default accelerometer and
+    gyroscope data.
+
+- **Improved Add-on Integration:**
+  - Add-ons now connect directly to the Raspberry Pi without requiring
+    controller firmware modifications.
+  - Removed I2C, SPI, and CAN interfaces to simplify connections.
+  - Tutorials now focus on USB-based add-on integration, with Arduino as an
+    optional intermediary for advanced use cases.
+
+---
+
+## Leo Rover 1.7
+
+:::warning
+
+Note: Versions 1.7 and below were developed at a rapid pace, leading to
+undocumented or incomplete changes.
+
+:::
+
+- Replaced suspension rectangular profiles with V-slot 2040 extrusions.
+- Reverted to Buehler 1.61.077.414 motors.
+- Added Pololu Romi 12 CPR encoders to the motors.
+- Redesigned Main Electronics Box (MEB).
+- Replaced antenna modem with Alfa AWUS036ACS USB Wi-Fi adapter.
+
+---
+
+## Leo Rover 1.5
+
+- **Rebranding:**
+
+  - Renamed from **Turtle Rover** to **Leo Rover**.
+
+- **Motor and Electronics Upgrades:**
+
+  - Switched from Buehler 1.61.077.414 motors to Pololu 25D motors with
+    integrated encoders.
+  - Replaced Turtle Rover controller with Husarion Core2-ROS.
+  - Replaced Fibox-based Main Electronics Box with a 3D-printed enclosure.
+
+- **Connector and Antenna Changes:**
+
+  - Removed the top Weipu connector from the Main Electronics Box.
+  - Added a Mini-USB connector in its place.
+  - Relocated the antenna to the previous Weipu connector location.
+  - Installed a new antenna modem inside the MEB, replacing the previous modem
+    housed in one of the rover's rear compartments.
+
+- **Component Replacements:**
+  - Upgraded Raspberry Pi 3B+ to Raspberry Pi 4B 1GB.
+  - Replaced 2 MP CMOS OV2710 camera with an RPiCam OV5647 5MP camera.
+
+---
+
+## Turtle Rover (Initial Version)
+
+_No structured changelog available for the initial release._

docs/leo-rover/integrations/legacy/arbotix.mdx

@@ -297,8 +297,8 @@ rostopic pub /dynamixel1/command std_msg/Float64 -- 0.0
 
 :::info
 
-The maximum angle range for a Dynamixel servo is [-150, 150] degrees which is equal
-to approximately [-2.62, 2.62] in radians
+The maximum angle range for a Dynamixel servo is [-150, 150] degrees which is
+equal to approximately [-2.62, 2.62] in radians
 
 :::
 

docs/leo-rover/integrations/lidars/slamtec-rplidar-a2.mdx

@@ -220,7 +220,7 @@ occupies. You can ensure it does that by creating a URDF model of the sensor.
   <link name="laser_frame"/>
 
   <joint name="laser_joint" type="fixed">
-    <origin xyz="0 0 0.0368" rpy="0 0 ${pi}"/>
+    <origin xyz="0 0 0.0368" rpy="0 0 ${-pi/2}"/>
     <parent link="rplidar_link"/>
     <child link="laser_frame"/>
   </joint>

docs/leo-rover/manuals/frame-and-suspension.mdx

@@ -591,7 +591,7 @@ move without excess play and resistance.
 There is a barely visible <span style={{color : "red",}} > **scratch** </span>
 made on one of the sides of the suspension beam.\
 Make sure that <span style={{color : "#609ebe",}} > **wheel mounts** </span>
-face away from the scratch and are aligned to the ends of the beam.
+face away from the middle of the beam and are aligned to the ends of it.
 
 :::
 

docs/rapha-rover/specification/ros-api.mdx

@@ -533,16 +533,17 @@ string status_message
   https://docs.ros2.org/latest/api/tf2_msgs/msg/TFMessage.html
 [rapha_interfaces/msg/BatteryMode]: #msg-battery-mode
 [rapha_interfaces/msg/BatteryState]: #msg-battery-state
-[rapha_interfaces/msg/ImuDiagnostics]: #msg-imu-diagnostics
-[rapha_interfaces/msg/Led]: #msg-led
-[rapha_interfaces/msg/LedColor]: #msg-led-color
-[rapha_interfaces/msg/LedPanel]: #msg-led-panel
-[rapha_interfaces/msg/LedPanelState]: #msg-led-panel-state
+
+{/* [rapha_interfaces/msg/ImuDiagnostics]: #msg-imu-diagnostics */}
+[rapha_interfaces/msg/Led]: #msg-led [rapha_interfaces/msg/LedColor]:
+#msg-led-color [rapha_interfaces/msg/LedPanel]: #msg-led-panel
+{/* [rapha_interfaces/msg/LedPanelState]: #msg-led-panel-state */}
 [rapha_interfaces/msg/LedState]: #msg-led-state
-[rapha_interfaces/msg/LedStripState]: #msg-led-strip-state
-[rapha_interfaces/msg/MotorDiagnostics]: #msg-motor-diagnostics
-[rapha_interfaces/msg/PowerSystemState]: #msg-power-system-state
-[rapha_interfaces/msg/SteeringMode]: #msg-steering-mode
-[rapha_interfaces/srv/SetBatteryModes]: #srv-set-battery-modes
-[rapha_interfaces/srv/SetLeds]: #srv-set-leds
-[rapha_interfaces/srv/SetSteeringMode]: #srv-set-steering-mode
+
+{/* [rapha_interfaces/msg/LedStripState]: #msg-led-strip-state */}
+{/* [rapha_interfaces/msg/MotorDiagnostics]: #msg-motor-diagnostics */}
+{/* [rapha_interfaces/msg/PowerSystemState]: #msg-power-system-state */}
+{/* [rapha_interfaces/msg/SteeringMode]: #msg-steering-mode */}
+{/* [rapha_interfaces/srv/SetBatteryModes]: #srv-set-battery-modes */}
+{/* [rapha_interfaces/srv/SetLeds]: #srv-set-leds */}
+{/* [rapha_interfaces/srv/SetSteeringMode]: #srv-set-steering-mode */}

docusaurus.config.ts

@@ -8,8 +8,47 @@ import type { Options as ClientRedirectsOptions } from '@docusaurus/plugin-clien
 const config: Config = {
   title: 'Fictionlab Documentation',
   tagline: 'Documentation, tutorials & manuals for robots',
-  favicon: '/img/branding/favicon.png',
-
+  headTags: [
+    {
+      tagName: 'link',
+      attributes: {
+        rel: 'icon',
+        type: 'image/png',
+        href: '/img/branding/favicon/favicon-96x96.png',
+        sizes: '96x96',
+      },
+    },
+    {
+      tagName: 'link',
+      attributes: {
+        rel: 'icon',
+        type: 'image/svg+xml',
+        href: '/img/branding/favicon/favicon.svg',
+      },
+    },
+    {
+      tagName: 'link',
+      attributes: {
+        rel: 'shortcut icon',
+        href: '/img/branding/favicon/favicon.ico',
+      },
+    },
+    {
+      tagName: 'link',
+      attributes: {
+        rel: 'apple-touch-icon',
+        href: '/img/branding/favicon/apple-touch-icon.png',
+        sizes: '180x180',
+      },
+    },
+    {
+      tagName: 'link',
+      attributes: {
+        rel: 'manifest',
+        href: '/site.webmanifest',
+      },
+    },
+  ],
   // Set the production url of your site here
   url: 'https://docs.fictionlab.pl',
   // Set the /<baseUrl>/ pathname under which your site is served
@@ -92,10 +131,9 @@ const config: Config = {
     navbar: {
       logo: {
         alt: 'fictionlab logo',
-        src: 'img/branding/fictionlab_logo_gray.svg',
-        srcDark: 'img/branding/fictionlab_logo_white.svg',
-        width: '98px',
-        height: '32px',
+        src: 'img/branding/logo/Logotype_basic field_grey.svg',
+        srcDark: 'img/branding/logo/Logotype_basic field_white.svg',
+        width: 130,
       },
       items: [
         {
@@ -186,8 +224,8 @@ const config: Config = {
           items: [
             {
               html: `
-              <a href="https://fictionlab.pl" target="_blank" rel="noreferrer noopener">
-                <img src= /img/branding/fictionlab_logo_white.svg alt="Fictionlab" width="200" height='65' />
+              <a href="https://fictionlab.pl" target="_blank" rel="noreferrer noopener" style="padding-bottom: 1rem; display: block;">
+                <img src= /img/branding/logo/logotype_white.svg alt="Fictionlab" width="200" height="38" />
               </a>
             `,
             },

package.json

@@ -18,26 +18,26 @@
     "spellcheck": "cspell \"**/*.mdx\""
   },
   "dependencies": {
-    "@docusaurus/core": "3.5.2",
-    "@docusaurus/plugin-client-redirects": "3.5.2",
-    "@docusaurus/preset-classic": "3.5.2",
-    "@mdx-js/react": "^3.0.1",
+    "@docusaurus/core": "3.7.0",
+    "@docusaurus/plugin-client-redirects": "3.7.0",
+    "@docusaurus/preset-classic": "3.7.0",
+    "@mdx-js/react": "^3.1.0",
     "clsx": "^2.1.0",
     "medium-zoom": "^1.1.0",
-    "prism-react-renderer": "^2.3.1",
-    "react": "^18.0.0",
-    "react-dom": "^18.0.0",
+    "prism-react-renderer": "^2.4.1",
+    "react": "^19.0.0",
+    "react-dom": "^19.0.0",
     "react-lite-youtube-embed": "^2.4.0",
-    "rehype-katex": "7",
+    "rehype-katex": "7.0.1",
     "remark-math": "6"
   },
   "devDependencies": {
-    "@docusaurus/module-type-aliases": "3.5.2",
-    "@docusaurus/tsconfig": "3.5.2",
-    "@docusaurus/types": "3.5.2",
-    "cspell": "^8.8.4",
-    "prettier": "^3.3.1",
-    "typescript": "^5.4.5"
+    "@docusaurus/module-type-aliases": "3.7.0",
+    "@docusaurus/tsconfig": "3.7.0",
+    "@docusaurus/types": "3.7.0",
+    "cspell": "^8.17.3",
+    "prettier": "^3.4.2",
+    "typescript": "^5.7.3"
   },
   "browserslist": {
     "production": [

src/components/ImageZoom/index.tsx

@@ -1,4 +1,4 @@
-import { useRef, ComponentProps, RefCallback } from 'react';
+import { useRef, ComponentProps, RefCallback, JSX } from 'react';
 import mediumZoom, { Zoom } from 'medium-zoom';
 import styles from './styles.module.css';
 

src/data/features.tsx

@@ -1,3 +1,5 @@
+import { JSX } from 'react';
+
 export type FeatureItem = {
   name: string;
   image: {

src/pages/index.tsx

@@ -8,6 +8,7 @@ import Link from '@docusaurus/Link';
 import ThemedImage from '@theme/ThemedImage';
 
 import styles from './index.module.css';
+import { JSX } from 'react';
 
 function HomepageHeader() {
   const { siteConfig } = useDocusaurusContext();
@@ -35,13 +36,13 @@ function HomepageHeader() {
           <ThemedImage
             alt="Fictionlab logo"
             sources={{
-              light: useBaseUrl('/img/branding/fictionlab_logo_white.svg'),
-              dark: useBaseUrl('/img/branding/fictionlab_logo_gray.svg'),
+              light: useBaseUrl('/img/branding/logo/logotype_white.svg'),
+              dark: useBaseUrl('/img/branding/logo/logotype_grey.svg'),
             }}
-            width="300px"
+            width="350px"
             height="auto"
             loading="eager"
-            style={{ float: 'right', aspectRatio: '300/98' }}
+            style={{ float: 'right', aspectRatio: '350/114' }}
           />
         </div>
       </div>