system setup docs

Author: ottojo

curt_mini/doc/motor_control.rst

@@ -22,8 +22,9 @@ A `fixed version of the candle_ros2 package`_ for ROS 2 Jazzy is provided and al
 Motor control is handled through `ros2_control`_.
 A `hardware interface`_ is provided for CURTmini, bridging ros2_control to candle_ros2.
 
+The nuc also has the `mdtool`_ motor configuration software preinstalled and configured.
+
 .. _`ros2_control`: https://control.ros.org/jazzy/index.html
-..
-   TODO: publish fixed candle_ros2
-.. _`fixed version of the candle_ros2 package`: https://domain.invalid
+.. _`fixed version of the candle_ros2 package`: https://github.com/ipa323/candle_ros2
 .. _`hardware interface`: https://github.com/ipa320/curt_mini/tree/main/ipa_ros2_control
+.. _`mdtool`: https://mabrobotics.github.io/MD80-x-CANdle-Documentation/software_package/legacy/MDTOOL.html

curt_mini/doc/software_setup.rst

@@ -26,5 +26,70 @@ When turning on CURTmini, a `tmux`_ session called :code:`nav` is started automa
 By default, the robot base launchfile is started, allowing access to all the integrated sensors, receiving twist commands from navigation software and controlling the robot manually with the joystick.
 To customize startup behavior, adjust the tmuxp configuration accordingly.
 
+Attach to the running TMUX session using:
+
+.. code-block:: console
+
+    $ tmux attach -t nav
+
 .. _`tmux`: https://github.com/tmux/tmux/wiki
 .. _`tmuxp`: https://github.com/tmux-python/tmuxp
+
+This is implemented using a systemd service :code:`ipa-ros-autostart`:
+
+.. code-block:: ini
+
+    [Unit]
+    Description=CURTmini ROS autostart with tmuxp
+    PartOf=ipa-tmux-master.service
+    After=ipa-tmux-master.service
+
+    [Service]
+    Type=oneshot
+    RemainAfterExit=yes
+    User=curt
+    ExecStart=/usr/bin/tmuxp load -d /home/curt/workspace/src/curt_mini/curt_mini/bringup/autostart.tmuxp.yaml
+    ExecStop=/usr/bin/tmux kill-session -t nav
+
+    [Install]
+    WantedBy=multi-user.target
+
+Which requires an additional systemd service to start the host tmux session:
+
+.. code-block:: ini
+
+    [Unit]
+    Description=tmux master service
+
+    [Service]
+    Type=forking
+    User=curt
+    ExecStart=/usr/bin/tmux new-session -s master -d
+    ExecStop=/usr/bin/tmux kill-session -t master
+
+    [Install]
+    WantedBy=multi-user.target
+
+****
+BIOS
+****
+The NUC is configured to automatically boot once it is powered, by setting the "After Power Failure" setting to "Power On" in the "Power" menu.
+Additionally, the "Fan Mode" setting in the "Cooling" menu is set to "Performance".
+
+***************
+Colcon Defaults
+***************
+
+A :code:`~/.colcon/defaults.yaml` file is already installed to ensure the robot base packages are built in release mode, and using symlink-install:
+
+.. code:: yaml
+
+    {
+      "build": {
+        "symlink-install": true,
+        "cmake-args": [
+          "-DCMAKE_EXPORT_COMPILE_COMMANDS=True",
+          "-DCMAKE_BUILD_TYPE=RelWithDebInfo",
+        ]
+      }
+    }