300 Update documentation with new modular system (#296)

* Update documentation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add nmea to documentation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix reuse.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

---------

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

Author: Jelmerdw

docs/content/franka.md

@@ -92,24 +92,15 @@ alias cb="cd /home/rcdt/rcdt_robotics/ros2_ws; uv run colcon build --symlink-ins
 From now on, when you open a new terminal, this alias is available and you can simply build and source using the `cb` command.
 :::
 
-## Launch ROS
+## Launch
 
-You can now launch ROS by running a launch file from one of the ROS packages. You could for example start the Franka launch file:
+You can now launch our system using:
 
 ```bash
-ros2 launch rcdt_franka franka.launch.py
+ros2 launch rcdt_launch robots.launch.py
 ```
 
-This will start the simulation of the Franka arm. You can stop by pressing CTRL+C in the running terminal.
-
-:::{note}
-It is possible to pass launch arguments as additional flags in the format `<argument>:=<value>`. To see which launch arguments are available, run the launch command with an `-s` flag:
-
-```bash
-ros2 launch rcdt_franka franka.launch.py -s
-```
-
-:::
+Note that the system won't start if no configuration is provided. The possible launch arguments can be acquired by adding the `-s` flag. More information about launching the system and selecting a configuration can be found on the [](system) page.
 
 ## Firewall
 
@@ -126,14 +117,7 @@ sudo ufw allow to 224.0.0.0/4
 sudo ufw allow from 224.0.0.0/4
 ```
 
-When connected with the Franka arm, communication with its ip-address (default 172.16.0.2) should be allowed:
-
-```bash
-sudo ufw allow to 172.16.0.2
-sudo ufw allow from 172.16.0.2
-```
-
-When connected with the Panther, communication with its ip-addresses in the 10.15.20.0/24 range should be allowed:
+When connected with the Panther network, communication with its ip-addresses in the 10.15.20.0/24 range should be allowed:
 
 ```bash
 sudo ufw allow to 10.15.20.0/24

docs/content/getting_started.md

@@ -31,11 +31,7 @@ If more complexity is required, one can also use the C++ API of Moveit. This ski
 
 ## How do we use Moveit?
 
-As mentioned before, we make use of the MoveGroup interface. One can start the `move_group` as a ros node of the `moveit_ros_move_group` package. However, the node requires many parameters to start and function correctly. Therefore, we always start the node using the launch file `moveit.launch.py`, located in our package `rcdt_moveit`, where we can easily pass the configuration parameters. Moveit configurations are defined in a separate package, which can be created for a desired robot arm using the [Moveit setup assistant](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html). For example, for the Franka robot arm, we created the `rcdt_franka_moveit_config` package. The move_group also requires information about the robot, like joint states. Therefore, the move_group can only be launched correctly while also launching the robot with some required functionalities. One can for example launch a simulation of our Franka robot using, which will by default start a robot simulation and Moveit:
-
-```bash
-ros2 launch rcdt_franka franka.launch.py
-```
+As mentioned before, we make use of the MoveGroup interface. One can start the `move_group` as a ros node of the `moveit_ros_move_group` package. However, the node requires many parameters to start and function correctly. Therefore, we always start the node using the launch file `moveit.launch.py`, located in our package `rcdt_moveit`, where we can easily pass the configuration parameters. Moveit configurations are defined in a separate package, which can be created for a desired robot arm using the [Moveit setup assistant](https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html). For example, for the Franka robot arm, we created the `rcdt_franka_moveit_config` package.
 
 ## Control in Rviz