[skip ci] publish latest

Signed-off-by: fmrico <fmrico@gmail.com>

Author: fmrico

_sources/build_install/index.rst.txt

@@ -5,9 +5,7 @@
 Build & Install
 =================
 
-This page explains how to install and build the **EasyNavigation (EasyNav)** framework.
-If you are new here, start with :doc:`../getting_started/index` for a high‑level overview,
-then return to this guide to set up your development environment.
+This page explains how to install and build the **EasyNavigation (EasyNav)** framework and how to set up your development environment.
 
 .. contents:: On this page
    :local:
@@ -18,7 +16,8 @@ Supported platforms
 
 EasyNav targets modern Linux distributions and ROS 2 releases:
 
-- **Ubuntu 24.04 (Noble)** — ROS 2 *kilted* (primary CI target)
+- **Ubuntu 24.04 (Noble)** — ROS 2 *jazzy* (primary CI target)
+- **Ubuntu 24.04 (Noble)** — ROS 2 *kilted*
 - **Ubuntu 24.04 (Noble)** — ROS 2 *rolling*
 - Other platforms may work but are not actively tested.
 
@@ -30,15 +29,15 @@ Prerequisites
 -------------
 
 
-1. ROS 2 (kilted or rolling)
+1. ROS 2 (jazzy, kilted or rolling)
 
    Follow the official ROS 2 installation instructions for your platform.
    Ensure your ROS 2 environment is sourced before building EasyNav.
 
    .. code-block:: bash
 
       # Example (adjust to your ROS 2 distro):
-      source /opt/ros/kilted/setup.bash
+      source /opt/ros/jazzy/setup.bash
 
 2. ROS dependencies
 
@@ -60,7 +59,7 @@ Binary packages will be provided via APT for Ubuntu + ROS 2 as they become avail
    .. code-block:: bash
 
       sudo apt update
-      sudo apt install ros-kilted-easynav
+      sudo apt install ros-jazzy-easynav
 
 Build from source
 -----------------
@@ -72,21 +71,24 @@ We recommend a standard ROS 2 workspace:
 
 .. code-block:: bash
 
-   mkdir -p ~/ros/ros2/easynav_ws/src
-   cd ~/ros/ros2/easynav_ws
+   mkdir -p ~/easynav_ws/src
+   cd ~/easynav_ws
 
 Clone sources
 ~~~~~~~~~~~~~
 
-You can retrieve EasyNav sources either by cloning the monorepo(s) you need:
+You can retrieve EasyNav sources by cloning the monorepo(s) you need:
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws/src
-   # Core/meta repositories (examples — adjust to your needs)
-   git clone https://github.com/EasyNavigation/EasyNavigation.git
-   git clone https://github.com/EasyNavigation/easynav_plugins.git
-   git clone https://github.com/EasyNavigation/NavMap.git
+   # Adjust workspace dir and branches to your needs
+   cd ~/easynav_ws/src
+   # Clone the main EasyNavigation repositories
+   git clone -b jazzy https://github.com/EasyNavigation/EasyNavigation.git
+   git clone -b jazzy https://github.com/EasyNavigation/NavMap.git
+   git clone -b jazzy https://github.com/EasyNavigation/easynav_plugins.git
+   # Clone yaets dependency
+   git clone -b jazzy-devel https://github.com/fmrico/yaets.git
 
 
 Install dependencies
@@ -96,7 +98,7 @@ From the workspace root, resolve all package dependencies with rosdep:
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws
+   cd ~/easynav_ws
    rosdep install --from-paths src --ignore-src -y -r
 
 Configure and build
@@ -106,35 +108,28 @@ Use colcon to build the workspace. You may enable symlink-install for faster ite
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws
+   cd ~/easynav_ws
    colcon build --symlink-install
 
 Source the overlay
 ~~~~~~~~~~~~~~~~~~
 
 .. code-block:: bash
 
-   # Source ROS 2 first (kilted / rolling)
-   source /opt/ros/kilted/setup.bash
+   # Source ROS 2 first (jazzy / kilted / rolling)
+   source /opt/ros/jazzy/setup.bash
    # Then source the workspace
-   source ~/ros/ros2/easynav_ws/install/setup.bash
+   source ~/easynav_ws/install/setup.bash
 
 Run tests (optional)
 ~~~~~~~~~~~~~~~~~~~~
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws
+   cd ~/easynav_ws
    colcon test --ctest-args -R easynav  # run EasyNav-related tests
    colcon test-result --verbose
 
-Common options
---------------
-
-- **Release build:** ``--cmake-args -DCMAKE_BUILD_TYPE=Release``
-- **Verbose build:** ``--event-handlers console_cohesion+``
-- **Single package:** ``--packages-select <pkg_name>``
-- **Parallel jobs:** ``--parallel-workers $(nproc)``
 
 Troubleshooting
 ---------------
@@ -151,16 +146,16 @@ Troubleshooting
 
   .. code-block:: bash
 
-     source /opt/ros/kilted/setup.bash
-     source ~/ros/ros2/easynav_ws/install/setup.bash
+     source /opt/ros/jazzy/setup.bash
+     source ~/easynav_ws/install/setup.bash
 
 - **ABI / compiler issues**
 
   Remove the build, install, and log folders and rebuild:
 
   .. code-block:: bash
 
-     cd ~/ros/ros2/easynav_ws
+     cd ~/easynav_ws
      rm -rf build install log
      colcon build --merge-install
 
@@ -171,7 +166,7 @@ Since this is a workspace overlay, you can remove it safely:
 
 .. code-block:: bash
 
-   rm -rf ~/ros/ros2/easynav_ws
+   rm -rf ~/easynav_ws
 
 Next steps
 ----------
@@ -181,4 +176,4 @@ Next steps
 - :doc:`../developer_guide/index` — in-depth documentation for developers and contributors
 
 .. toctree::
-   :hidden:
+   :hidden:

_sources/getting_started/index.rst.txt

@@ -25,50 +25,61 @@ We will run a ready-to-use simulation setup consisting of:
 Workspace layout
 ----------------
 
-Assuming you followed the :doc:`../build_install/index` instructions, your workspace should look like this:
+Assuming you followed the :doc:`../build_install/index` instructions and build from sources, your workspace should look like this:
 
 .. code-block:: text
 
-   ~/ros/ros2/easynav_ws/
+   ~/easynav_ws/
    ├── src/
-   │   ├── EasyNavigation/             # If installed from sources
+   │   ├── EasyNavigation/
    │   ├── easynav_plugins/
-   │   ├── easynav_playground_kobuki/
-   │   └── easynav_indoor_testcase/
+   │   ├── NavMap/
+   │   ├── yaets/
    ├── install/
    ├── build/
    └── log/
 
-If you are missing any of the required repositories, clone them manually:
+Additionally, this guide will make use of a simple indoor testcase and a Gazebo simulation environment.  
+Clone these repositories into your `src` folder and instell their dependencies:
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws/src
-   git clone https://github.com/EasyNavigation/easynav_plugins.git
+   cd ~/easynav_ws/src
    git clone https://github.com/EasyNavigation/easynav_playground_kobuki.git
    git clone https://github.com/EasyNavigation/easynav_indoor_testcase.git
+   # Clone third-party dependencies using vcs tool
+   vcs import . < easynav_playground_kobuki/thirdparty.repos
+   # Install dependencies via rosdep
+   cd ~/easynav_ws
+   rosdep install --from-paths src --ignore-src -y -r
+
+Rebuild the workspace to include the new packages and source the environment:
+
+.. code-block:: bash
+
+   cd ~/easynav_ws
+   colcon build --symlink-install
+
+   # Source ROS 2 first (jazzy / kilted / rolling)
+   source /opt/ros/jazzy/setup.bash
+   # Then source the workspace
+   source ~/easynav_ws/install/setup.bash
+
 
 Repository overview
 -------------------
 
-- **easynav_plugins** — contains multiple plugins and stacks, including the *Simple Stack* used in this example.
-- **easynav_playground_kobuki** — Gazebo simulation for the Turtlebot2 (Kobuki).
-- **easynav_indoor_testcase** — provides maps, parameter files, and RViz configurations for indoor navigation.
+- **easynav_playground_kobuki** --> Gazebo simulation for the Turtlebot2 (Kobuki).
+- **easynav_indoor_testcase** --> provides maps, parameter files, and RViz configurations for indoor navigation.
 
 Simulation setup
 ----------------
 
-Once your workspace is built and sourced:
-
-.. code-block:: bash
-
-   cd ~/ros/ros2/easynav_ws
-   source install/setup.bash
-
-Launch the simulator:
+Once your workspace is built and sourced, launch the Gazebo simulation:
 
 .. code-block:: bash
 
+   cd ~/easynav_ws
    ros2 launch easynav_playground_kobuki playground_kobuki.launch.py
 
 This starts a Gazebo Harmonic simulation of a Turtlebot2 robot in a domestic environment.
@@ -77,6 +88,7 @@ This starts a Gazebo Harmonic simulation of a Turtlebot2 robot in a domestic env
    :align: center
    :alt: Turtlebot2 simulation in Gazebo
 
+
 To save resources, you can disable the Gazebo graphical interface:
 
 .. code-block:: bash
@@ -90,8 +102,9 @@ With the simulator running, open a **new terminal** and source your workspace ag
 
 .. code-block:: bash
 
-   cd ~/ros/ros2/easynav_ws
-   source install/setup.bash
+   cd ~/easynav_ws
+   source /opt/ros/jazzy/setup.bash
+   source ~/easynav_ws/install/setup.bash
 
 Now start the EasyNav system using the predefined parameter file:
 
@@ -105,12 +118,13 @@ This command launches the EasyNav core using the *Simple Stack* configuration lo
 Visualizing in RViz2
 --------------------
 
-Open another terminal and start RViz2 with the provided configuration:
+Open another new terminal and start RViz2 with the provided configuration:
 
 .. code-block:: bash
 
+   # Note: First, source the environment as shown previously.
    ros2 run rviz2 rviz2 \
-      -d src/easynav_indoor_testcase/rviz/simple.rviz \
+      -d ~/easynav_ws/src/easynav_indoor_testcase/rviz/simple.rviz \
       --ros-args -p use_sim_time:=true
 
 .. image:: ../images/kobuki_simple.png 
@@ -149,7 +163,7 @@ You can launch it in a new terminal after starting the EasyNav system:
 
 .. code-block:: bash
 
-   ros2 run easynav_system tui_main
+   ros2 run easynav_system tui
 
 The TUI is divided into several panels:
 
@@ -166,7 +180,7 @@ This interface is especially useful for debugging or performance evaluation with
    :alt: EasyNav Terminal User Interface
    :width: 90%
 
-and press **q** to exit.
+Press **q** to exit the TUI.
 
 .. note::
 
@@ -188,7 +202,6 @@ You have successfully launched **EasyNav** with a simulated robot!
 
 Continue exploring:
 
-- :doc:`../build_install/index` — learn how to build, install, and configure EasyNav from source.  
 - :doc:`../howtos/index` — follow practical guides for mapping, navigation, and real robot deployment.  
 - :doc:`../developer_guide/index` — dive into the internal design and architecture of the EasyNav framework.
 

about/index.html

@@ -64,7 +64,6 @@
 <li class="toctree-l3"><a class="reference internal" href="../build_install/index.html#run-tests-optional">Run tests (optional)</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../build_install/index.html#common-options">Common options</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../build_install/index.html#troubleshooting">Troubleshooting</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../build_install/index.html#uninstall-clean">Uninstall / clean</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../build_install/index.html#next-steps">Next steps</a><ul class="simple">
@@ -173,6 +172,34 @@
 </li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../howtos/index.html#bonxai-stack">Bonxai Stack</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html">Building Bonxai and NavMap Maps from a Recorded ROSBag</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#overview">Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#align-the-frames-world-map">1. Align the Frames (world → map)</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#play-the-rosbag">2. Play the ROSBag</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#launch-easynav-with-bonxai-and-navmap-maps-managers">3. Launch EasyNav with Bonxai and NavMap Maps Managers</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#navmap-build-parameters">4. NavMap Build Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#visualize-in-rviz2">5. Visualize in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#save-the-maps">6. Save the Maps</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#summary">7. Summary</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../howtos/index.html#navmap-stack">NavMap Stack</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html">Building Bonxai and NavMap Maps from a Recorded ROSBag</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#overview">Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#align-the-frames-world-map">1. Align the Frames (world → map)</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#play-the-rosbag">2. Play the ROSBag</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#launch-easynav-with-bonxai-and-navmap-maps-managers">3. Launch EasyNav with Bonxai and NavMap Maps Managers</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#navmap-build-parameters">4. NavMap Build Parameters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#visualize-in-rviz2">5. Visualize in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#save-the-maps">6. Save the Maps</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/bonxai_navmap_from_rosbag.html#summary">7. Summary</a></li>
+</ul>
+</li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../howtos/index.html#controllers">Controllers</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../howtos/serest_controller.html">SeReST Controller Fine-Tuning</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../howtos/serest_controller.html#overview">Overview</a></li>
@@ -209,6 +236,17 @@
 <li class="toctree-l4"><a class="reference internal" href="../howtos/costmap_multirobot.html#tips-gotchas">Tips &amp; Gotchas</a></li>
 </ul>
 </li>
+<li class="toctree-l3"><a class="reference internal" href="../howtos/ros2_easynav_cli.html">ros2 easynav — EasyNav CLI Extensions</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#name">NAME</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#synopsis">SYNOPSIS</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#description">DESCRIPTION</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#commands">COMMANDS</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#options-common">OPTIONS (Common)</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#exit-status">EXIT STATUS</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#examples">EXAMPLES</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../howtos/ros2_easynav_cli.html#see-also">SEE ALSO</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>