content: Improvements to the Raph Rover docs

docs/raph-rover/documentation/getting-started.mdx

@@ -17,6 +17,7 @@ import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
 import FlexTable from '@site/src/components/FlexTable';
 import FlexTableItem from '@site/src/components/FlexTableItem';
 import CenterContent from '@site/src/components/CenterContent';
+import LinkButton from '@site/src/components/LinkButton';
 
 import Support from '@site/docs/raph-rover/partial/_support.mdx';
 
@@ -260,79 +261,14 @@ driving, preview stream from on-board camera.
 To access it, open your web browser and navigate to
 [10.10.0.2](http://10.10.0.2).
 
-From here, you can control the rover, access the camera feed, and configure
-various settings. You can control the rover using the on-screen joystick.
+From here, you can control the rover using keyboard and on-screen joystick,
+access the camera feed, and configure various settings.
 
-:::tip
-
-You can use gamepads, including Xbox and PlayStation controllers, with the Web
-UI. First, plug the controller into your device. The UI will confirm the
-connection with a "Gamepad connected" notification. You can then immediately
-start controlling the robot with the gamepad.
-
-:::
-
-_More inforation coming soon_
-
-{/* TODO: ADD UI Pictures */}
-
-## Maintenance
-
-### Charging batteries
-
-Raph Rover comes with a 4A 25,2V Li-Ion charger. It can charge 1 battery pack in
-about 1.5 hour via the dedicated charging slot.
-
-<ThemedImageZoom
-  alt="Raph Rover battery dock"
-  sources={{
-    light: useBaseUrl('/img/robots/raph/getting-started/Charging_black.webp'),
-    dark: useBaseUrl('/img/robots/raph/getting-started/Charging_white.webp'),
-  }}
-  width="3000"
-  height="2121"
-  figStyle={{
-    width: 600,
-  }}
-/>
-
-The charger (not the dock) is outfitted with an LED status indicator designed to
-provide information about the charging status of the battery. A green LED
-signifies that the battery has reached full charge, while a red LED indicates
-that the battery is currently in the charging process.
-
-As an alternative, the batteries can be charged via the rover, by leaving them
-inside the battery ports and connecting the charger to the rover's power input
-located at the back.
-
-<ThemedImageZoom
-  alt="Raph Rover with power adapter"
-  sources={{
-    light: useBaseUrl(
-      '/img/robots/raph/getting-started/Charging_rover_black.webp',
-    ),
-    dark: useBaseUrl(
-      '/img/robots/raph/getting-started/Charging_rover_white.webp',
-    ),
-  }}
-  width="3000"
-  height="2121"
-  figStyle={{
-    width: 600,
-  }}
-/>
-
-This way it's possible to charge both batteries at the same time, however the
-charging current will be split between them, resulting in a longer charging time
-of around 2.5 h. The Rover does not need to be powered off for this process.
+:::info
 
-:::note
+To find out more about using the Web UI, visit the documentation page below:
 
-When working on the rover while charging the batteries the LED indicator of
-power adapter will not transition to green when charging is complete. Power draw
-of the rover will keep the charger in active (red) state. To check battery
-level, press the power button once. Fully illuminated LED side panels will
-indicate fully charged batteries.
+<LinkButton docId="documentation/web-user-interface" />
 
 :::
 
@@ -341,9 +277,7 @@ indicate fully charged batteries.
 After initial testing, you can explore what else Raph Rover has to offer. Start
 developing your own robotic application with help of our tutorials:
 
-_Coming soon_
-
-{/* TODO: Add link to guides */}
+<LinkButton to="/raph-rover/guides" title="Guides" />
 
 ### Support
 

docs/raph-rover/documentation/ros-api.mdx

@@ -24,16 +24,6 @@ image: /img/robots/raph/raph-rover.webp
 
   Steers the robot when operating in the Ackermann steering mode.
 
-- `controller/cmd_turn_in_place` (?) **Not implemented yet**
-
-  Steers the robot when operating in the Turn-In-Place steering mode.
-
-- `controller/cmd_vel` ([geometry_msgs/msg/Twist]) **Not implemented yet**
-
-  Steers the robot using `Twist` commands. More standardized way to control the
-  robot. \
-  Useful for some navigation stacks. Not recommended for manual teleoperation.
-
 - `controller/led_strip_state` ([raph_interfaces/msg/LedStripState])
 
   Sets a new user state for all the LEDs in the LED strip.
@@ -44,21 +34,14 @@ image: /img/robots/raph/raph-rover.webp
 
 ## Published Topics
 
-- `controller/imu` ([sensor_msgs/msg/Imu])
+- `controller/imu/data_raw` ([sensor_msgs/msg/Imu])
 
   Current gyroscope and accelerometer readings from the onboard IMU.
 
 - `controller/odom` ([nav_msgs/msg/Odometry])
 
   Odometry calculated from wheel encoders and the onboard IMU.
 
-- `controller/steering_mode` ([raph_interfaces/msg/SteeringMode]) **Not
-  implemented yet**
-
-  Current steering mode. Published whenever the mode changes. \
-  Uses transient local durability to deliver last message to joining
-  subscriptions.
-
 - `controller/diagnostics/imu` ([raph_interfaces/msg/ImuDiagnostics])
 
   Diagnostic information about the IMU module. \
@@ -73,6 +56,10 @@ image: /img/robots/raph/raph-rover.webp
 
   Current information about the power system.
 
+- `imu/data` ([sensor_msgs/msg/Imu])
+
+  Filtered IMU readings including orientation.
+
 - `oak/imu/data` ([sensor_msgs/msg/Imu])
 
   Current gyroscope and accelerometer readings from the Oak-D IMU.
@@ -118,7 +105,7 @@ image: /img/robots/raph/raph-rover.webp
 
   Raw laser scans from the onboard 2D LIDAR.
 
-- `rplidar/scan_filtered` ([sensor_msgs/msg/LaserScan]) **Not implemented yet**
+- `rplidar/scan_filtered` ([sensor_msgs/msg/LaserScan])
 
   Laser scans from the onboard 2D LIDAR with points lying on the robot's
   footprint filtered out.

docs/raph-rover/documentation/specification.mdx

@@ -16,7 +16,6 @@ image: /img/robots/raph/raph-rover.webp
 toc_max_heading_level: 4
 ---
 
-import styles from './styles.module.css';
 import useBaseUrl from '@docusaurus/useBaseUrl';
 import ThemedImageZoom from '@site/src/components/ThemedImageZoom';
 import CenterContent from '@site/src/components/CenterContent';
@@ -211,6 +210,22 @@ as:
   </TabItem>
 </Tabs>
 
+#### Wheels
+
+As standard, Raph Rover comes with rubber tires with a diameter of about 170 mm.
+Whole drive assembly has following characteristics:
+
+<CenterContent>
+
+| Parameter                    |       Value        |
+| ---------------------------- | :----------------: |
+| Tire size (diameter x width) | ~ 170 mm x ~ 80 mm |
+| Tire lock type               |      Beadlock      |
+| Tire insert                  |     Hard foam      |
+| Wheel rim diameter           |       120 mm       |
+
+</CenterContent>
+
 ### Components
 
 <CenterContent>

docs/raph-rover/documentation/user-manual/_category_.json

@@ -0,0 +1,10 @@
+{
+  "label": "User Manual",
+  "position": 2,
+  "collapsible": true,
+  "collapsed": false,
+  "link": {
+    "type": "doc",
+    "id": "user-manual"
+  }
+}