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Add Jazzy documentation (#26)
* Start adding Jazzy docs * Change Nav2 links to docs.nav2.org. Addresses #23 * Update README with changes for Ubuntu 24.04, modify the debug configuration to use the remote theme * Bump major version for Jazzy * More jazzy sections added * Fix bad tab delimiter, update visualization package * Add Jazzy section to create3.md * Add a note about firmware versions needing to match the ROS release * Remove the note about letter prefixes; it doesn't matter * Add a deprecation notice to all Galactic tabs * Add a full stop * More full stops * Use the styled warning box for the galactic deprecation notices * Add deprecation notice to the main galactic page * Add more Jazzy sections * Add a note about the firmware being DDS-specific in Jazzy * Move the deprecation notice below the title * Update Jazzy changelog * Update jazzy package versions * Fix the Create3 firmware version * Add a note about needing wireless equipment that provides 2.5 and 5 GHz * Fix missing Jazzy section for discovery server * Update discovery server & simple discovery instructions for Jazzy * Add a note for Jazzy and Humble about NOT using the `_do_not_use` namespace * Make sensor installation instructions generic with ROS_DISTRO envar, remove mostly-duplicate tabs. Use `` instead of ** for ros topics * Consolidate more sections, remove duplicate debian install instructions for the simulation * More tab consolidations * Add an additional note about choosing the correct RMW implementation in the firmware installation section * Add a note to the bash setup table about RMW implementation needing to match the firmware * Add a section for the Reset Create3 setup menu item * Add disable-diagnostics tab for jazzy * Add sourcing-jazzy tab * Add tabs for the Create3 topics not being visible, rewrite that section for Jazzy * Forgot to save before last commit * Consolidate keyboard teleop tabs by using envars * Add Jazzy sections to the first-node examples * Add jazzy slam * Add jazzy nav2 * Add jazzy tabls for navigation, reword missing galactic tutorial notices * Remove theme lines that are already in _config.yaml * Remove command that's already in Makefile * Add `make update` to build commands * Update simple discovery networking for Jazzy * Remove superfluous line breaks * Revert to separate bash commands for each distro's SD card; the humble images aren't compatible with the jazzy script and vice-versa * Add instructions for how to disconnect the create3 from wifi * Fix photo captions * Use the turtlebot4-setup tool for configuring the create3, reword jazzy & humble sections to indicate that we're confirming settings, not that we're applying them * Reword the part about network topology being the same for simple & server in jazzy * Specify that the command should be run over SSH on the Turtlebot 4 * Add galactic deprecation notice * Use the new view_navigation launch file for Jazzy * Update view_model, view_robot launch file instructions for navigation & multiple robots * Remove the LLM tutorial for Galactic * Revert debian installation instructions for the simulator to use tabs * Revert desktop debian installation to use tabs * Revert teleop-twist-keyboard installation to use tabs * Add paragraph break * More paragraph breaks * More paragraph breaks * More paragraph breaks * ignition-bringup -> gazebo-bringup for relative links * Remove nested tabs
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‎.debug.yml

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remote_theme: false
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debug:
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compress: false
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dist: true
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shortcodes: true
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theme: jekyll-rtd-theme
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shortcodes: true

‎.github/ISSUE_TEMPLATE/1-bug.yml

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- Select One
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- Galactic
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- Humble
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- Jazzy
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validations:
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required: true
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- type: dropdown
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- Select One
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- Ubuntu 20.04
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- Ubuntu 22.04
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- Ubuntu 24.04
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- Other Linux
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- Windows / MAC
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validations:

‎README.md

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## Build
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To build the Turtlebot4's User Manual locally, first [install Ruby version 2.7.7](https://gorails.com/setup/ubuntu/22.04)
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To build the Turtlebot4's User Manual locally, first [install Ruby version 3.2](https://gorails.com/setup/ubuntu/24.04)
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You can check your ruby the version using:
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```bash
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<p>
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<details>
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<summary><b>Using Ruby 3+</b></summary>
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Ruby 3+ isn't recommended due to [this issue](https://talk.jekyllrb.com/t/error-no-implicit-conversion-of-hash-into-integer/5890/2). Unfortunately, Ruby 3+ is required for `sass-converter` to be installed; a dependency of jekyll. If you don't want to (or can't) juggle multiple Ruby versions, you can run this patch to fix Ruby 3+ such that it works with Github Pages.
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```shell
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sudo sed -i.bak 's/, kwd/, **kwd/' $(gem which pathutil)
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```
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<summary><b>Configuring Ubuntu 24.04</b></summary>
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By default, Ubuntu 24.04 uses a debian-packaged version of Ruby, which installs gems to a root-owned path. This makes installing additional gems problematic.
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To work around this issue, run the following commands:
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```shell
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mkdir $HOME/.ruby
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echo 'export GEM_HOME=$HOME/.ruby/' >> $HOME/.bashrc
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echo 'export PATH="$PATH:$HOME/.ruby/bin"' >> $HOME/.bashrc
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source $HOME/.bashrc
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```
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This will make the `gem` command install Ruby gems to your local user's `.ruby` directory.
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</details>
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</p>
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If you get the warning "No version is set for command ruby" then you need to set the active ruby version in asdf:
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```bash
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asdf global ruby 2.7.7
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```
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Ensure your Ruby gems are up to date:
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```bash
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```shell
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gem update --system
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```
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Next [install Jekyll and the rest of the prerequisites](https://jekyllrb.com/docs/). Be careful to not overwrite the Ruby version.
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Clone this repository:
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```bash
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```bash
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cd turtlebot4-user-manual
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make
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make update
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make server
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```
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The webpage will now be available at `127.0.0.1:4000`
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The webpage will now be available at `http://127.0.0.1:4000/turtlebot4-user-manual`

‎_includes/templates/addons.liquid

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</div>
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<div class="branch p-1">
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<span class="name">
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v1.0.0
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v2.0.0
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</span>
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<i class="fa fa-caret-down"></i>
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</div>

‎changelogs/galactic.md

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# TurtleBot 4 Galactic
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```warning
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**ROS 2 Galactic is no longer supported.** Please consider updating to a newer release
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```
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TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://download.ros.org/downloads/turtlebot4/).
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## v0.1.3
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- Added a service to forward the Create® 3 webserver through the RPi4
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- Users can now access the Create® 3 webserver by navigating to the IP address of their TurtleBot 4 with the port 8080 on a web browser.
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- The Create® 3 does not need to be placed into AP mode to access the webserver.
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- Example: TurtleBot 4 with an IP address of `192.168.0.187`.
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- Example: TurtleBot 4 with an IP address of `192.168.0.187`.
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- Enter `192.168.0.187:8080` into your browser:
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<figure class="aligncenter">
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<img src="media/webserver.png" alt="Webserver" style="width: 90%"/>

‎changelogs/jazzy.md

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---
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sort: 3
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---
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# TurtleBot 4 Jazzy
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TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://download.ros.org/downloads/turtlebot4/).
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## v2.0.0
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**OS**: Ubuntu Server 24.04.5 LTS
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**ROS**: Jazzy
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**Create® 3 Firmware**: I.0.0
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### General
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- Due to technical limitations, the Create3 firmware only supports FastRTPS or CycloneDDS; changing
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RMW implementations requires installing the correct firwmare version on the Create3
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- Updated `install.py` to support Jazzy
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- Use `create3_republisher` by default to expose base platform topics from the RPi4
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- ROS Control changes to use `TwistStamped` messages for velocity control instead of `Twist`
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- Renamed `ignition` and `ign` packages & launch files to use preferred `gz` nomenclature
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### TurtleBot 4 Packages
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<table>
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<thead>
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<tr>
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<th>Package</th>
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<th>Version</th>
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<th>Changes</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>turtlebot4_base</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_bringup</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_description</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_diagnostics</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_msgs</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_navigation</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_node</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_robot</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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<tr>
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<td>turtlebot4_tests</td>
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<td>2.0.0</td>
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<td>-</td>
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</tr>
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</tbody>
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</table>

‎overview/resources.md

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### Ubuntu
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- Ubuntu 20.04 LTS Desktop (Focal Fossa): <https://releases.ubuntu.com/20.04/>
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- Ubuntu 22.04 LTS Desktop (Jammy Jellyfish): <https://releases.ubuntu.com/22.04/>
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- Ubuntu 24.04 LTS Desktop (Noble Numbat): <https://releases.ubuntu.com/24.04/>
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- Raspberry Pi Imager: <https://www.raspberrypi.com/software/>
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### ROS 2
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- Documentation: <https://docs.ros.org/en/humble/index.html>
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- Ubuntu (Debian) Install: <https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html>
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- Nav2 Documentation: <https://navigation.ros.org/>
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- Nav2 Documentation: <https://docs.nav2.org/>
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- Nav2 Github: <https://github.com/ros-planning/navigation2>
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- SLAM Toolbox: <https://github.com/SteveMacenski/slam_toolbox>
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