site_name: ros2
site_url: https://docs.hello-robot.com/stretch_tutorials
site_description: "Hello Robot Stretch Tutorials"
copyright: 'Copyright © 2022 Hello Robot Inc'
site_author: Hello Robot Inc
use_directory_urls: True
docs_dir: ros2
site_dir: ../site

theme:
 name: material
 #font: Arial
 palette:
  - scheme: default
    primary: hello-robot-light
    toggle:
      icon: material/lightbulb-outline
      name: Switch to dark mode
  - scheme: slate
    primary: hello-robot-dark
    toggle:
      icon: material/lightbulb
      name: Switch to light mode
 logo: images/hello_robot_logo_light.png
 favicon: images/hello_robot_favicon.png
 features:
  - navigation.instant

extra_css:
  - ./extra.css

markdown_extensions:
  - pymdownx.highlight
  - pymdownx.superfences
  - pymdownx.inlinehilite
  - pymdownx.keys
  - admonition
  - pymdownx.tabbed:
      alternate_style: true

plugins:
  - same-dir
#  - simple:
#      merge_docs_dir: true
#      include_extensions: [".css", ".png"]
#      include_folders: ['../hello_helpers']
  - mike:
      # these fields are all optional; the defaults are as below...
      version_selector: true   # set to false to leave out the version selector
      css_dir: css             # the directory to put the version selector's CSS
      javascript_dir: js       # the directory to put the version selector's JS
      canonical_version: null  # the version for <link rel="canonical">; `null`
      # uses the version specified via `mike deploy`
  - search
  - tags
  - mkdocstrings:
      default_handler: python
      handlers:
        python:
          selection:
            docstring_style: numpy
          rendering:
            show_root_heading: true
            show_source: false
            members_order: source
            heading_level: 3
            show_if_no_docstring: true

extra:
  version:
    provider: mike
    default: latest
  social:
    - icon: material/home
      link: https://hello-robot.com
    - icon: material/twitter
      link: https://twitter.com/HelloRobotInc
    - icon: material/github
      link: https://github.com/hello-robot
    - icon: material/linkedin
      link: https://linkedin.com/company/hello-robot-inc


nav:
  - Getting Started: ./getting_started.md
  - Motion Commands: ./jogging.md
  - Robot Drivers: ./robot_drivers.md
  # - Writing Nodes: ./writing_nodes.md # TODO
  - Navigation with Nav2:
    - Overview: ./navigation_overview.md
    - Nav2 Basics: ./navigation_stack.md
    - Nav2 Simple Commander: ./navigation_simple_commander.md
  # - Manipulation with MoveIt2: # TODO
  #   - MoveIt Basics: ./moveit_basics.md # TODO
  #   - MoveIt with RViz: ./moveit_rviz_demo.md # TODO
  #   - MoveGroup C++ API: ./moveit_movegroup_demo.md # TODO
  - FUNMAP: https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_funmap#overview
    # - Mapping: ./writing_nodes.md #TODO
    # - Navigation: ./writing_nodes.md #TODO
    # - Manipulation: ./writing_nodes.md # TODO
  - Perception: ./perception.md
  - Examples:
    - Filter Laser Scans: ./example_2.md
    - Collision Avoidance: ./example_3.md
    - Rviz Markers: ./example_4.md
    - Offloading Computation: ./remote_compute.md
    - ArUco Locator: ./example_12.md
    - Voice Teleop: ./example_9.md
    - Playing Audio: ./example_9.md
    - Rosbags & MCAPs: ./example_9.md