The documentation site is generated with Doxygen from the existing Markdown in this docs/ tree together with comments from the source code. The Doxygen configuration lives at the repository root in Doxygen.
# install doxygen if it is not already available
sudo apt-get update && sudo apt-get install -y doxygen
# from the repository root
doxygen DoxygenThe generated HTML site is written to docs/html/ and the entry page is docs/html/index.html.
For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in .github/workflows/doxygen-pages.yml rebuilds the site whenever files change and deploys the generated docs/html/ artifact to Pages.
A basic tutorial can be found in here. This tutorial will guide you through the process of creating a simple capability and running it.
The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.
A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the capabilities2_runner package for more information.
This package contains messages for the capabilities2 package. See the capabilities2_msgs package for more information.
The LaunchRunner interface is still kept in the capabilities2_runner package, but launch-file execution support is intentionally deferred because of incompatibilities with the current ROS2 launch system. Documentation for launch-based capability execution will be restored once the replacement solution is ready.