Documentation Index - Forestry-Robotics-UC/fruc_dataset_apparatus GitHub Wiki

Documentation Index

Complete Documentation Map for FRUC Dataset Apparatus

Getting Started

For End Users

Home Start here
- Overview and quick navigation
- System summary and key features
- Prerequisites
User Manual Core user guide
- Hardware and software requirements
- Installation walkthrough
- Configuration guides
- Recording procedures
- Post-recording workflows
- Troubleshooting for users
Installation & Setup Detailed setup
- System preparation
- Docker installation
- Sensor configuration
- Container building
- Verification procedures
- Post-installation configuration

For Your First Recording

System Architecture & Design

Understanding the System

Technical Architecture System design
- High-level architecture overview
- Container structure and roles
- Data flow pipelines
- Topic organization
- Time synchronization
- Network architecture
- Performance characteristics
- Hardware requirements
Tools, Libraries & Dependencies Technical stack
- Programming languages used
- ROS2 frameworks
- Sensor drivers and packages
- Build tools and compilation
- Communication protocols
- Version compatibility matrix
- Dependency tree visualization

Sensor-Specific Details

IMU Sensor: Xsens (see Technical Architecture)
LiDAR: Ouster (see Technical Architecture)
Camera: RealSense (see Technical Architecture)
GNSS: Emlid (see Technical Architecture)

For Developers

Development Resources

Developer Guide Comprehensive developer reference
- Project structure overview
- Adding new sensors
- Working with ROS2 launch files
- Modifying launch system scripts
- Building custom containers
- Debugging techniques
- Contributing guidelines
- Performance optimization
Scripts Reference Script documentation
- Main launch scripts (launch-system.sh, gnome-launch-system.sh)
- Stop scripts (stop-system.sh, gnome-stop-system.sh)
- Specialized scripts (tty-perms.sh, pre_recording_test.sh)
- Container control scripts
- Python utility scripts
- Usage patterns and examples

How To...

Add a new sensor: See Developer Guide - Adding New Sensor
Modify launch files: See Developer Guide - Working with ROS2
Create custom containers: See Developer Guide - Building Custom Containers
Debug issues: See Developer Guide - Troubleshooting
Optimize performance: See Developer Guide - Performance Optimization

Configuration & Operation

Pre-Recording

Pre-recording Checklist Verification steps
Scripts Reference - pre_recording_test.sh Automated testing

Recording Operations

Recording Procedure Step-by-step recording guide
User Manual - Recording Your First Dataset Detailed recording walkthrough

Post-Recording

Post-Recording Procedure Data handling and processing
User Manual - After Recording Data verification and playback

Networking

Networking Network setup and configuration

Platform-Specific Guides

Steam Deck

Steam Deck SteamDeck-specific deployment
Hardware mapping and button configuration
Desktop environment setup

Docker

Docker Images Container definitions
Dockerfile documentation
Image building procedures

Troubleshooting & Support

General Troubleshooting

Troubleshooting Common issues and solutions
Developer Guide - Troubleshooting for developers

By Problem Type

Issue	First Check
Installation Problems	Installation & Setup
Sensor Not Found	User Manual - Troubleshooting
Recording Issues	User Manual - Troubleshooting
Docker Problems	Developer Guide - Debugging
Network Issues	Networking
Script Errors	Scripts Reference

Quick Reference

Key Scripts

Script	Purpose	Documentation
`launch-system.sh`	Start recording (KDE)	Scripts Reference
`gnome-launch-system.sh`	Start recording (GNOME)	Scripts Reference
`stop-system.sh`	Stop all containers	Scripts Reference
`tty-perms.sh`	Set serial permissions	Scripts Reference
`pre_recording_test.sh`	Run diagnostics	Scripts Reference

Key Topics

Topic	Source	Description
IMU Data	Xsens	`/imu/data`, `/imu/mag`, `/heading`
Camera Data	RealSense	`/camera/color/image_raw`, `/camera/aligned_depth_to_color/image_raw`
LiDAR Data	Ouster	`/ouster/lidar_packets`, `/ouster/points`
GNSS Data	Emlid	`/fix`, `/fix_velocity`

See complete topic list in Technical Architecture

Common Commands

# Record data
./launch-system.sh

# Stop recording
./stop-system.sh

# Check topics
ros2 topic list

# Monitor topic (IMU example)
ros2 topic hz /imu/data

# View recording
ros2 bag info rosbags/2026-*/

# Playback
ros2 bag play rosbags/2026-*/ --loop

# Run diagnostics
cd docker && bash pre_recording_test.sh

Learning Paths

Path 1: End User (Just Want to Record Data)

Path 2: System Administrator

Path 3: Software Developer

Path 4: System Customization

Document Overview

Core Documentation (Created 2026-03-30)

Document	Purpose	Audience	Length
Home	Overview & navigation	All users	1-2 min read
User Manual	Complete user guide	End users	30-45 min read
Installation & Setup	Installation procedures	Administrators	30-40 min read
Technical Architecture	System design details	Developers & admins	20-30 min read
Tools & Dependencies	Technical stack reference	Developers	15-25 min read
Developer Guide	Development reference	Developers	30-45 min read
Scripts Reference	Script documentation	Developers & admins	20-40 min read

Existing Documentation (Reference)

Related Resources

External Documentation

Sensor Manufacturers

Document Versions

Document	Last Updated	Status
Home.md	2026-03-30	Updated with new documentation links
User Manual.md	2026-03-30	Complete
Installation-Setup.md	2026-03-30	Complete
Technical-Architecture.md	2026-03-30	Complete
Tools-Libraries-Dependencies.md	2026-03-30	Complete
Developer-Guide.md	2026-03-30	Complete
Scripts-Reference.md	2026-03-30	Complete

Navigation Tips

Use Ctrl+F to search within documents
Click document links to jump between sections
Return here using the Documentation Index link
Check the Home page for quick navigation
Use table of contents at top of each document

Created: 2026-03-30
For corrections or suggestions, please refer to the Developer Guide
Questions? Check Troubleshooting or relevant section