mkdocs.yml

# CRS documentation site — MkDocs + Material
# Build:  mkdocs build       Serve: mkdocs serve
# Nav is generated from docs/SUMMARY.md by tools/summary_to_nav.py

site_name: CRS Documentation
site_url: https://intelligentcontrolsystems.github.io/crs/
site_description: Control and Robotics Software — simulation and experiment framework for control and robotics
repo_url: https://github.com/IntelligentControlSystems/crs
repo_name: IntelligentControlSystems/crs
edit_uri: edit/main/docs/
docs_dir: docs
site_dir: site

theme:
  name: material
  language: en
  icon:
    repo: fontawesome/brands/github
  features:
    - navigation.indexes      # section landing pages (e.g. Controllers)
    - navigation.top
    - navigation.tracking
    - navigation.footer
    - toc.follow
    - search.suggest
    - search.highlight
    - content.code.copy
    - content.action.edit
  palette:
    - media: "(prefers-color-scheme: light)"
      scheme: default
      primary: indigo
      accent: indigo
      toggle:
        icon: material/weather-night
        name: Switch to dark mode
    - media: "(prefers-color-scheme: dark)"
      scheme: slate
      primary: indigo
      accent: indigo
      toggle:
        icon: material/weather-sunny
        name: Switch to light mode

plugins:
  - search

# Build-time repairs for GitLab wiki syntax: math delimiters, <details> blocks,
# tables/fences without a preceding blank line, and links inside raw HTML.
hooks:
  - tools/mkdocs_hooks.py

markdown_extensions:
  - abbr
  - admonition
  - attr_list
  - def_list
  - footnotes
  - md_in_html
  - tables
  - toc:
      permalink: true
      toc_depth: 3
  - pymdownx.arithmatex:      # LaTeX for the MPC / EKF pages
      generic: true
  - pymdownx.betterem
  - pymdownx.caret
  - pymdownx.details
  - pymdownx.highlight:
      anchor_linenums: true
      line_spans: __span
  - pymdownx.inlinehilite
  - pymdownx.keys
  - pymdownx.superfences
  - pymdownx.tabbed:
      alternate_style: true
  - pymdownx.tasklist:
      custom_checkbox: true
  - pymdownx.tilde

extra_css:
  - assets/extra.css

extra_javascript:
  - assets/mathjax.js
  - https://unpkg.com/mathjax@3/es5/tex-mml-chtml.js

# Link checking happens in tools/mkdocs_hooks.py, which repairs wiki-era links
# and reports the genuinely dead ones at the end of the build. MkDocs' own
# check runs before the hook, so it would only report links that get fixed.
validation:
  omitted_files: warn
  absolute_links: ignore
  unrecognized_links: ignore

# Pages kept in the repo but deliberately not in the sidebar.
not_in_nav: |
  SUMMARY.md

nav:
  - Home: README.md
  - "Getting Started":
    - "Installation": getting_started/Installation.md
    - "First Steps": getting_started/First-Steps.md
    - "Folder Structure": getting_started/Folder-Structure.md
    - "Experiments": getting_started/experiments.md
    - "Overview": getting_started/Overview.md
  - "CRS":
    - "Dynamic Models":
      - Dynamic-Models.md
      - "Pacejka Model": pacejka-model.md
      - "Kinematic Model": kinematic-model.md
      - "Parafoil 4-DoF Model": Parafoil-4-Dof-Model.md
      - "Rocket 6-DoF Model": Rocket-6-Dof-Model.md
    - "Sensor Models":
      - Sensor-Models.md
      - "Vicon Sensor Model": vicon-sensor-model.md
      - "IMU Sensor Model": imu-sensor-model.md
      - "Wheel Encoders": Wheel-Encoders.md
      - "Lighthouse": lighthouse-sensor-model.md
    - "Estimators":
      - Estimators.md
      - "Lowpass Filter": lowpass-filter.md
      - "EKF": ekf.md
      - "Square Root EKF": sqrt-ekf.md
      - "MHE": MHE.md
    - "Controllers":
      - Controllers.md
      - "PID": PID-controller.md
      - "Feedforward Feedback": FF_FB-controller.md
      - "MPCC": Pacejka-MPCC-controller.md
      - "Safety Filter": Safety-Filter.md
      - "Rocket Controller": Rocket-Controller.md
      - "Joystick": Joystick.md
      - "Solvers": MPC_Solvers.md
  - "ROS4CRS":
    - "Structure": Ros-Structure.md
    - "Dependency Reduction": dependency-reduction.md
    - "Estimators":
      - Ros-Estimators.md
      - "EKF": ROS-EKF.md
      - "Square Root EKF": ROS-SQRT-EKF.md
      - "MHE": ROS-MHE.md
    - "Controllers":
      - Ros-Controllers.md
      - "Directory Structure": ros_controllers-dir-struct.md
      - "MPC": ROS-MPC.md
      - "Last Reference Point": last_reference_point_visualizer.md
      - "Safety Filter": ROS-Safety-Filter.md
      - "Python Controllers":
        - Ros-Controllers-Python.md
        - "Zero-order GP-MPC": Ros-Controllers-Python-zoGPMPC.md
    - "Simulators": ros-simulators.md
    - "MPC Autotuner": MPC-Autotuner.md
    - "Wi-Fi Communication": Wi-Fi-Communication.md
    - "Track Manager": track-manager.md
    - "Backtrackers":
      - backtrackers.md
      - "Linear Backtracker": linear-backtracker.md
    - "Configuration Overview": configuration_overview.md
  - "ROS_IO":
    - "Qualisys Car State Converter": ros_io/Qualisys-Car-State-Converter.md
  - "Scripts":
    - "System Identification": scripts/System-Identification.md
    - "Track Generation": track-generation.md
    - "Estimator Evaluation": estimator-evaluation.md
  - "Development":
    - development/Development-Setup.md
    - "Coding Guidelines": development/Guidelines.md
    - "Visualization": development/Visualization.md
    - "Debugging C/C++ code in ROS": development/Debugging-C-and-C++-ROS-Code.md
    - "Development Container": development/Development-Container.md
    - "Tools for ROS bags": development/Tools-for-ROS-bags.md
    - "Adapting the clock rate": development/Adapting-the-clock-rate.md
    - "A Guide to CMakeLists": development/How-to-write-a-CMakeLists.txt.md
    - "Tuning":
      - development/Tuning.md
      - "Controller Tuning GUI": development/Controller-tuning-using-rqt_reconfigure.md
      - "Controller Parameters": development/Controller-Parameters.md
      - "Model Parameters": development/Model-Parameters.md
  - "Hardware Documentation":
    - "Car Manual":
      - crs-for-cars/Car-Manual.md
      - "How to build Chronos": crs-for-cars/how-to-build-a-chronos-car.md
      - "Hardware Manual": crs-for-cars/hardware-manual.md
      - "Firmware": crs-for-cars/Car-Firmware.md
      - "Low-level Controllers": crs-for-cars/Lowlevel-Controllers.md
      - "Steer Calibration": Steer-Calibration.md
      - "Steer Controller Tuning": crs-for-cars/Steer-Controller-Tuning.md
      - "Configuration Interface": crs-for-cars/Car-Configuration-Interface.md
      - "Time Synchronization": Time-Synchronization.md
      - "Troubleshooting": crs-for-cars/Car-Troubleshooting.md
    - "Motion Capture Systems":
      - Motion-Capture-Systems.md
      - "Qualisys System": qualisys/Qualisys-Overview.md
      - "Lighthouse System":
        - lighthouse/Lighthouse-Overview.md
        - "Calibration": lighthouse/Lighthouse-Calibration.md
    - "Rocket":
      - "Rocket Qualisys Configuration": Rocket-Setup.md
      - "Rocket Host/GCS Laptop setup": Rocket-GCS/Host-Laptop-Setup.md
      - "Launching the Rocket": Rocket-Startup.md
      - "Multi-arch Docker building and Deployment": Multi-arch-Docker-build-and-image-transfer-via-on-robot-registry.md
      - "Time Sync with Internet or local NTP": Time-Synchronization-with-Internet-or-a-local-NTP-server.md
  - "Tutorials":
    - Tutorials.md
    - "Adding a new Model": adding-new-model.md
    - "Ros Parameters": ros-parameters.md
    - "Register a component in the ros wrapper": register-component.md
    - "Adding a new Estimator": Tutorials/Adding-a-new-Estimator.md
    - "Adding New Models to CRS":
      - "Adding a Dynamic Model": Tutorials/adding_new_models_to_crs/Adding-a-Dynamic-Model.md
      - "Adding a Sensor model": Tutorials/adding_new_models_to_crs/Adding-Sensor-Models.md
      - "Adding Messages for our Models": Tutorials/adding_new_models_to_crs/Adding-Messages-for-our-Models.md
    - "Creating a ROS Simulator":
      - "Creating a barebones ROS simulator": Tutorials/creating_a_ros_simulator/Creating-a-Barebones-ROS-Simulator.md
      - "Adding a state publisher": Tutorials/creating_a_ros_simulator/Adding-a-State-Publisher.md
      - "Adding a controller that pub'n'subs": Tutorials/creating_a_ros_simulator/Controller-that-Pubs-and-Subs.md
      - "Upgrading simulator to pub'n'sub": Tutorials/creating_a_ros_simulator/Simulator-that-Pubs-and-Subs.md