+
# Documentation
-
This documentation is under construction. It will contain both explanations for more applied users and for developers.
## Table of Contents
This documentation cosists of several examples, guides and conceptual explanations to give users a more thourough understanding of [mesh_navigation](https://github.com/naturerobots/mesh_navigation).
-**Mesh Navigation**
+**Getting Started**
- [Overview](/index.md)
- [Installation](/installation.md)
+- [Run](/run.md)
-**Theory**
-- [Why Meshes?](/theory/mesh_maps.md)
-
-**Tutorials**
-
-Guides:
-1. [Mesh Mapping](/tutorials/mesh_mapping.md)
-2. [Cost Layers Generation](/tutorials/cost_layer_generation.md)
-3. [Localization](/tutorials/localization.md)
-4. [Mesh Navigation](/tutorials/mesh_navigation.md)
-5. [Deliberation](/tutorials/deliberation.md)
-
-**Library**
-
-Writing own plugins for
-- [Cost Layer](/library/cost_layer_plugin.md)
-- [Planner](/library/planner_plugin.md)
-- [Controller](/library/controller_plugin.md)
+**Documentation**
-**Guides**
-TODO
+- [Theory](/theory/index.md)
+- [Tutorials](tutorials/index.md)
+- [Library](/library/index.md)
+- [Guides](/guides/index.md)
## Contributions
diff --git a/docs/library/controller_plugin.md b/docs/library/controller_plugin.md
index e69de29..44d0b46 100644
--- a/docs/library/controller_plugin.md
+++ b/docs/library/controller_plugin.md
@@ -0,0 +1 @@
+# Controller Plugin
\ No newline at end of file
diff --git a/docs/library/cost_layer_plugin.md b/docs/library/cost_layer_plugin.md
index e69de29..8348231 100644
--- a/docs/library/cost_layer_plugin.md
+++ b/docs/library/cost_layer_plugin.md
@@ -0,0 +1 @@
+# Cost Layer Plugin
\ No newline at end of file
diff --git a/docs/library/index.md b/docs/library/index.md
new file mode 100644
index 0000000..36ec42c
--- /dev/null
+++ b/docs/library/index.md
@@ -0,0 +1,3 @@
+# Library
+
+TODO: More in-depth library overview
\ No newline at end of file
diff --git a/docs/library/planner_plugin.md b/docs/library/planner_plugin.md
index e69de29..3cb21da 100644
--- a/docs/library/planner_plugin.md
+++ b/docs/library/planner_plugin.md
@@ -0,0 +1 @@
+# Planner Plugin
diff --git a/docs/media/mesh_nav_icon.png b/docs/media/mesh_nav_icon.png
new file mode 100644
index 0000000..42ee91f
Binary files /dev/null and b/docs/media/mesh_nav_icon.png differ
diff --git a/docs/media/mesh_nav_icon_bg_white.png b/docs/media/mesh_nav_icon_bg_white.png
new file mode 100644
index 0000000..75005e6
Binary files /dev/null and b/docs/media/mesh_nav_icon_bg_white.png differ
diff --git a/docs/media/mesh_navigation_logo.png b/docs/media/mesh_nav_logo.png
similarity index 100%
rename from docs/media/mesh_navigation_logo.png
rename to docs/media/mesh_nav_logo.png
diff --git a/docs/run.md b/docs/run.md
new file mode 100644
index 0000000..e69de29
diff --git a/docs/static/stylesheets/style.css b/docs/static/stylesheets/style.css
new file mode 100644
index 0000000..2046b06
--- /dev/null
+++ b/docs/static/stylesheets/style.css
@@ -0,0 +1,6 @@
+.youtube-container {
+ position: relative;
+ padding-bottom: 56.25%;
+ height: 0;
+ overflow: hidden;
+}
\ No newline at end of file
diff --git a/docs/theory/index.md b/docs/theory/index.md
new file mode 100644
index 0000000..4bba659
--- /dev/null
+++ b/docs/theory/index.md
@@ -0,0 +1 @@
+# Overview
\ No newline at end of file
diff --git a/docs/tutorials/cost_layer_generation.md b/docs/tutorials/cost_layer_generation.md
index 4a8b867..921b58d 100644
--- a/docs/tutorials/cost_layer_generation.md
+++ b/docs/tutorials/cost_layer_generation.md
@@ -16,9 +16,7 @@ Some useful cost layers are already implemented such as
- height difference
- border
-All these layers are described in [mesh navigation](https://github.com/naturerobots/mesh_navigation). In addition, [mesh navigation](https://github.com/naturerobots/mesh_navigation) provides simple interfaces to implement own kinds of cost layers. This [article](./OwnCostLayer) describes the usage of this interface in greater detail.
-
-
+All these layers are described in [mesh navigation](https://github.com/naturerobots/mesh_navigation). In addition, [mesh navigation](https://github.com/naturerobots/mesh_navigation) provides simple interfaces to implement cost layers as plugins which is described here: [Link](/tutorials/plugins/own_cost_layer.md).
## Initial Cost Layer Generation
diff --git a/docs/tutorials/deliberation.md b/docs/tutorials/deliberation.md
index d228811..99a875b 100644
--- a/docs/tutorials/deliberation.md
+++ b/docs/tutorials/deliberation.md
@@ -1,14 +1,6 @@
# Deliberation
-
This guide aims to provide tutorials explaining the integration of mesh navigation into well-known deliberation approaches such as behavior trees, etc.
-
-
-
TODO!
-
-
-
-
diff --git a/docs/tutorials/editing/align_mesh_to_ground.md b/docs/tutorials/editing/align_mesh_to_ground.md
new file mode 100644
index 0000000..169f9f8
--- /dev/null
+++ b/docs/tutorials/editing/align_mesh_to_ground.md
@@ -0,0 +1,15 @@
+# Align Mesh to Ground Plane
+
+*TODO*: Write something
+
+Link: [https://www.youtube.com/watch?v=FUYHixJfYQs](https://www.youtube.com/watch?v=FUYHixJfYQs)
+
+
+
+
diff --git a/docs/tutorials/editing/flatten_surface.md b/docs/tutorials/editing/flatten_surface.md
new file mode 100644
index 0000000..db50582
--- /dev/null
+++ b/docs/tutorials/editing/flatten_surface.md
@@ -0,0 +1,30 @@
+
+# Mesh Editing: Flatten a surface
+
+*TODO*: Rewrite this
+
+
+Due to sensor inaccuracies flat floors sometimes are mapped roughly...
+
+
+straightened out the ground plane using Blender:
+
+1. enable ortographic view (numpad 5),
+2. look from the side (numpad 3),
+3. enable X-Ray (Alt-z),
+4. box select vertices,
+5. manually fix the selection,
+6. then scale z to 0 (s z 0)
+
+Link: [https://www.youtube.com/watch?v=TmKt9RFphf0](https://www.youtube.com/watch?v=TmKt9RFphf0)
+
+
+ 