Started documentation site

.devcontainer/documentation/Dockerfile

@@ -0,0 +1,12 @@
+FROM node:latest
+
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get install sudo \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+ARG USERNAME=node
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME

.devcontainer/documentation/devcontainer.json

@@ -0,0 +1,35 @@
+{
+  "name": "Documentation",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "remoteUser": "node",
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "files.insertFinalNewline": true,
+        "files.trimTrailingWhitespace": true,
+        "editor.formatOnSave": true,
+        "editor.tabSize": 2,
+        "editor.rulers": [80],
+        "eslint.enable": true,
+        "eslint.validate": [
+          "javascript",
+          "javascriptreact",
+          "typescript",
+          "typescriptreact"
+        ],
+        "editor.defaultFormatter": "esbenp.prettier-vscode",
+        "editor.codeActionsOnSave": {
+          "source.fixAll": "always"
+        }
+      },
+      "extensions": [
+        "Perkovec.emoji",
+        "dbaeumer.vscode-eslint",
+        "esbenp.prettier-vscode",
+        "unifiedjs.vscode-mdx"
+      ]
+    }
+  }
+}

.github/workflows/ci-docs.yaml

@@ -0,0 +1,35 @@
+name: Check Documentation
+
+on:
+  push:
+    branches:
+      - main
+      - docs
+  pull_request:
+    paths:
+      - docs/**
+  workflow_dispatch:
+
+jobs:
+  build-docs:
+    name: Build documentation
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup npm
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: docs/package-lock.json
+
+      - name: Install dependencies
+        run: npm ci
+        working-directory: ./docs
+
+      - name: Build website
+        run: npm run build
+        working-directory: ./docs

.github/workflows/docs.yaml

@@ -0,0 +1,47 @@
+name: Deploy to GitHub Pages
+
+on:
+  push:
+    branches:
+      - main
+      - docs
+
+jobs:
+  docs:
+    name: Build and deploy documentation
+    runs-on: ubuntu-latest
+
+    permissions:
+      pages: write
+      id-token: write
+
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup npm
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: docs/package-lock.json
+
+      - name: Install dependencies
+        run: npm ci
+        working-directory: ./docs
+
+      - name: Build website
+        run: npm run build
+        working-directory: ./docs
+
+      - name: Upload build artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build
+
+      - name: Deploy to GitHub Pages
+        uses: actions/deploy-pages@v4

docs/.gitignore

@@ -0,0 +1,20 @@
+# Dependencies
+/node_modules
+
+# Production
+/build
+
+# Generated files
+.docusaurus
+.cache-loader
+
+# Misc
+.DS_Store
+.env.local
+.env.development.local
+.env.test.local
+.env.production.local
+
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*

docs/babel.config.js

@@ -0,0 +1,3 @@
+module.exports = {
+  presets: [require.resolve('@docusaurus/core/lib/babel/preset')],
+};

docs/docs/contributing.mdx

@@ -0,0 +1,31 @@
+---
+sidebar_position: 5
+title: Contributing
+---
+
+Thank you for considering contributing to Blue! Here we provide a set of
+guidelines for contributing to the project.
+
+Contributions include but are not restricted to:
+
+* Contributing to the Blue codebase
+* Writing documentation
+* Reporting bugs
+* Answering [discussion questions](https://github.com/Robotic-Decision-Making-Lab/blue/discussions)
+
+## Workflow
+
+* Send all pull requests to the `main` branch (unless otherwise requested).
+* Limit each pull request to resolving a single issue
+* It is your responsibility to ensure that your development branch is
+  up-to-date with the main branch. You may either rebase on main or merge main
+  into your development branch.
+* Always test and document your code.
+* Ensure that your changes pass our CI! If you encounter issues with this,
+  please ask for help.
+
+## Support
+
+If you have questions regarding your contribution, please create a new
+discussion post on the [Discussions](https://github.com/Robotic-Decision-Making-Lab/blue/discussions)
+board.

docs/docs/installation.mdx

@@ -0,0 +1,72 @@
+---
+sidebar_position: 3
+---
+
+# Installation
+
+Blue is currently supported on Linux and is available for the ROS distributions
+Humble and Iron. Blue can be installed from source or using one of
+the provided Docker images. If you plan to use Blue for simulation and have
+a system with limited compute power, we recommend installing Blue from source.
+For all other cases, we recommend installing Blue using Docker.
+
+## Docker installation
+
+Prior to installing Blue using Docker, make sure that Docker is installed on
+your system and that you are logged into the GitHub Container Registry. If
+Docker is not installed, you may follow the instructions provided
+[here](https://docs.docker.com/get-docker/). If you are not already logged into
+the GitHub Container Registry, please do so by following the instructions
+provided [here](https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry).
+Once you have successfully installed Docker and logged into the GitHub Container
+Registry, you can install Blue by pulling one of the provided [Docker
+images](https://github.com/Robotic-Decision-Making-Lab/blue/pkgs/container/blue).
+A complete list of the provided images is documented below (where `*` should be
+replaced with the desired ROS distribution, e.g., `humble-robot`):
+
+| Supported ROS Versions | Image Tag | Build Architectures | Description |
+| ---------------------- | --------- | ------------------- | ----------- |
+| Humble, Iron | *-robot   | `amd64`, `arm64` | A bare-bones image that includes all dependencies without simulation or visualization features. This can be used to deploy Blue to hardware. |
+| Humble, Iron | *-desktop | `amd64` | Image that includes all dependencies, including simulation and visualization features. This can be used for development, testing, and top-side deployment. |
+| Humble, Iron | *-desktop-nvidia | `amd64` | Extension of the `*-desktop` image that provides support for NVIDIA GPU drivers. This image is *strongly* recommended for systems that have an NVIDIA GPU, and requires the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). |
+
+If you plan to use either the `*-desktop` or `*-desktop-nvidia` images, you may
+use the provided [Docker Compose scripts](https://github.com/Robotic-Decision-Making-Lab/blue/tree/main/.docker/compose)
+to install and run Blue. For instance, to pull and run the `iron-desktop` image,
+first run the command:
+
+```bash
+wget https://raw.githubusercontent.com/Robotic-Decision-Making-Lab/blue/iron/.docker/compose/nouveau-desktop.yaml && \
+docker compose -f nouveau-desktop.yaml up
+```
+
+then in a new tab, enter the container by running
+
+```bash
+docker exec -it <image-name> /bin/bash
+```
+
+where `<image-name>` should be replaced with the name of the container that was
+created.
+
+### Development container
+
+We recommend using one of the provided Visual Studio Code
+[development containers](https://github.com/Robotic-Decision-Making-Lab/blue/tree/main/.devcontainer)
+to implement and test your own packages. These containers use the `*-desktop`
+and `*-desktop-nvidia` images as base images. To use the development containers,
+first verify that you can run Visual Studio Code inside a Docker container by
+following the tutorial provided [here](https://code.visualstudio.com/docs/devcontainers/tutorial).
+Once you have successfully verified that you can run Visual Studio Code inside a
+Docker container, open the Blue repository in Visual Studio Code and select the option
+to reopen the folder inside a container when prompted. This will automatically
+build the development container and install all necessary dependencies. Once the
+container is built, you can start developing your own packages!
+
+## Source installation
+
+We recommend using the project [Dockerfile](https://github.com/Robotic-Decision-Making-Lab/blue/blob/main/.docker/Dockerfile)
+(beginning at the `robot` stage) for complete source installation details. This
+installation may be customized according to your specific needs. For example,
+if you do not plan to use the simulation environment, you may forego installing
+Gazebo and its dependencies.

docs/docs/overview.mdx

@@ -0,0 +1,95 @@
+---
+sidebar_position: 2
+---
+
+import Vehicle from "@site/src/components/Vehicle";
+import BlueROV2HeavyReach from "@site/static/img/vehicles/bluerov2_heavy_reach.png";
+
+# Overview
+
+Angler provides a set of tools implemented using ROS 2 that help you test and
+deploy software for underwater vehicles. This is accomplished through the
+following features:
+
+1. **Simulation using Gazebo**: Vehicle models and configurations have been
+   created for Gazebo. We have found that Gazebo provides a good representation
+   of how the vehicle will behave in the real world.
+2. **CI/CD pipelines**: Blue implements CI/CD pipelines to help you deploy your
+   software in the same environment that you performed development and testing
+   in. Docker images are built for the `amd64` and `arm64` CPU architectures so
+   that you can easily deploy your software to a variety of hardware platforms.
+3. **Development environment**: Blue provides a development environment that
+   includes all of the tools you need to develop software for underwater
+   vehicles, such as ROS 2, Gazebo, linters, and formatters. This helps you
+   avoid spending resources setting up your development environment and focus on
+   writing your robotics algorithms 😀
+4. **Custom control and localization algorithms**: Blue supports custom
+   controllers implemented using [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
+   and localization algorithms implemented using [marine_localization](https://github.com/Robotic-Decision-Making-Lab/marine_localization).
+
+## Recommended workflow
+
+Blue is designed to be flexible and modular, enabling you to make changes
+according to the needs of your project. However, our commitment to flexibility
+does not compromise our effort to ensure that the provided system caters to
+a wide range of use cases. With this in mind, we recommend the following
+workflow for using Blue:
+
+```mermaid
+graph TD
+   A(Making your </br> own changes?) -- Yes --> B(Create a fork of the </br> repository)
+   A -- No --> C(Install Blue)
+   B --> D(Update CI/CD pipelines </br> to point to your fork)
+   D --> E(Install Blue from your fork </br> and add your changes)
+   E --> F(Test your system </br> in simulation)
+   C --> F
+   F --> G(Deploy Blue to hardware!)
+```
+
+## Supported vehicles
+
+Several vehicle models have been implemented and tested with Blue in
+**simulation** and on **hardware**. These vehicles include:
+
+<div className="vehicles">
+  <Vehicle name="BlueROV2" img={BlueROV2}>
+    The BlueROV2 is a popular lightweight underwater vehicle made by [Blue
+    Robotics](https://bluerobotics.com/) that is used for hobby, research, and
+    commercial applications.
+  </Vehicle>
+  <Vehicle name="BlueROV2 Heavy" img={BlueROV2Heavy}>
+    The BlueROV2 Heavy is an extension to the BlueROV2 made by [Blue
+    Robotics](https://bluerobotics.com/) that includes additional thrusters and
+    a larger frame to improve the vehicle's manueverability.
+  </Vehicle>
+  <Vehicle name="BlueROV2 Heavy Reach" img={BlueROV2HeavyReach}>
+    The BlueROV2 Heavy Reach modifies the BlueROV2 Heavy by moving the thrusters
+    located on the upper chassis to the lower chassis. This was proposed by
+    [Reach Robotics](https://reachrobotics.com/) to enable integration of a
+    small manipulator for intervention tasks.
+  </Vehicle>
+</div>
+
+## Supported manipulators
+
+Several vehicle models have been implemented and tested with Blue in
+**simulation** and on **hardware**. These vehicles include:
+
+<div className="vehicles">
+  <Vehicle name="BlueROV2" img={BlueROV2}>
+    The BlueROV2 is a popular lightweight underwater vehicle made by [Blue
+    Robotics](https://bluerobotics.com/) that is used for hobby, research, and
+    commercial applications.
+  </Vehicle>
+  <Vehicle name="BlueROV2 Heavy" img={BlueROV2Heavy}>
+    The BlueROV2 Heavy is an extension to the BlueROV2 made by [Blue
+    Robotics](https://bluerobotics.com/) that includes additional thrusters and
+    a larger frame to improve the vehicle's manueverability.
+  </Vehicle>
+  <Vehicle name="BlueROV2 Heavy Reach" img={BlueROV2HeavyReach}>
+    The BlueROV2 Heavy Reach modifies the BlueROV2 Heavy by moving the thrusters
+    located on the upper chassis to the lower chassis. This was proposed by
+    [Reach Robotics](https://reachrobotics.com/) to enable integration of a
+    small manipulator for intervention tasks.
+  </Vehicle>
+</div>

docs/docs/tutorials/_category_.json

@@ -0,0 +1,4 @@
+{
+  "label": "Tutorials",
+  "position": 4
+}