Docs pass (August 2025)

docs/README.md

@@ -0,0 +1,24 @@
+# Documentation
+
+Thanks for taking a look at the SoRo repo! This folder contains the project's documentation, including tutorials, an FAQ, and design documents. If you're confused about something, it's probably documented here.
+
+Here's a short list describing the info that each file provides:
+
+- [`base_station.md`](base_station.md): about setting up the "base station", our giant antenna for remote operations.
+- `design/`: the design + structure of the project
+  - [`design/tf2.md`](design/tf2.md): definitions for the coordinate space frames (transformations); how the ROS 2 `tf2` library is set up; a list of all frames + links
+- [`faq.md`](faq.md): a giant list of bugs + footguns we've encountered. (very helpful for new members and the ROS 2 community as a whole)
+- `hardware/`: about the Rover hardware
+  - [`hardware/jetson.md`](hardware/jetson.md): introduction to the NVIDIA Jetson Orin Nano computer we use on the Rover
+    - also includes setup advice, just in case the storage device breaks
+  - [`hardware/sensors.md`](hardware/sensors.md): the sensors/inputs used on the Rover (like cameras, GPS, and IMU)
+- [`nav.md`](nav.md): description of our design for navigation, pre-Nav2.
+  - WARNING: These docs are no longer immediately relevent; our design needs changed with the switch to Nav2. Nonetheless, we keep these ideas present in case we refactor to have additional control.
+- [`network.md`](network.md): static IP + MAC address assignments (i.e., how to connect to X or Y devices)
+- [`offline.md`](offline.md): tutorial on how to update/modify the Rover code and its dependencies (even if we have NO way to get an internet connection on the Rover)
+
+## Adding Documentation
+
+Did you figure something out the hard way? Please write it down somewhere in this folder, then add any new file(s) to the above list!
+
+This project is intended to help people learn about robotics and computer science, so lots of documentation will go a long way. :)

docs/hardware/jetson.md

@@ -1,10 +1,12 @@
 # NVIDIA Jetson Orin Nano Setup
 
-INTRO: TODO. (...the Jetson is a small portable computer for robotics, etc. etc.)
+The [NVIDIA Jetson Orin Nano](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/nano-super-developer-kit/), which we call "the Jetson", is a small portable computer for robotics. In essence, it's the brain of the Rover, running all of our Autonomous code, the Rover map, video streamer, and more!
+
+The Jetson is just a computer running Linux, a free operating system. Specifically, it ships with an flavor called "Ubuntu".
 
 It comes with a modified (and very slow) version of Ubuntu by default. That's called Jetpack, and we don't use it due to the high overhead incurred with their default setup.
 
-We use a special image of Ubuntu Server 22.04 LTS ([download link](https://ubuntu.com/download/nvidia-jetson), [installation + setup documentation](https://pages.ubuntu.com/rs/066-EOV-335/images/Ubuntu_22.04_for_NVIDIA_Jetson_Installation_instructions.pdf)) to address this problem and have better control over the computer, though the setup process is more involved.
+Instead, we use a special image of Ubuntu Server 22.04 LTS ([download link](https://ubuntu.com/download/nvidia-jetson), [installation + setup documentation](https://pages.ubuntu.com/rs/066-EOV-335/images/Ubuntu_22.04_for_NVIDIA_Jetson_Installation_instructions.pdf)) to address performance problems and have better control over the computer, though the setup process is more involved.
 
 ## First-Time Setup
 
@@ -43,3 +45,7 @@ When it's done restarting, SSH back in and check if `nvidia-smi` shows info on C
 TODO: instructions on using SSH
 
 TODO: instructions on setting up ZeroTier to communicate over the school network, and usage of the router for local networking
+
+## Specifications
+
+We have the `T234` model of Jetson. You can [find its specifications online](https://nvdam.widen.net/s/zkfqjmtds2/jetson-orin-datasheet-nano-developer-kit-3575392-r2).

docs/nav.md

@@ -1,6 +1,8 @@
-# Resources on Navigation
+# ARCHIVED: Our previous design for the `navigator` package
 
-How to implement the navigator according to our current design (2025-04-01 ymd).
+This file contains our previous design for the `navigator::navigator_node`. It was created before we switched over to Nav2, a library that handles navigating for us.
+
+However, we keep it in the repo for future reference. (i.e., we could switch the design again later)
 
 ## Wheel speeds between Rover and Target