update readme (#69)

* update readme

Signed-off-by: Michael Anderson <anderson@mbari.org>

* update readme

Signed-off-by: Michael Anderson <anderson@mbari.org>

---------

Signed-off-by: Michael Anderson <anderson@mbari.org>

Author: andermi

README.md

@@ -2,191 +2,19 @@
 
 Packages in this repo provide interfaces, API, examples for [MBARI WEC](https://github.com/osrf/mbari_wec/tree/main).
 
-Complete examples starting from template repositories may be found here:
-[Python linear damper](https://github.com/mbari-org/mbari_wec_template_py/tree/linear_damper_example)
+Documentation on API, messages, and services may be found here:  
+[Python API](https://osrf.github.io/mbari_wec/main/ROS2/python_api/)  
+[C++ API](https://osrf.github.io/mbari_wec/main/ROS2/cpp_api/)  
+[ROS 2 Interfaces](https://osrf.github.io/mbari_wec/main/ROS2/messages/)
+
+Complete examples starting from template repositories may be found here:  
+[Python linear damper](https://github.com/mbari-org/mbari_wec_template_py/tree/linear_damper_example)  
 [C++ linear damper](https://github.com/mbari-org/mbari_wec_template_cpp/tree/linear_damper_example)
 
 And tutorials may be found [here](https://osrf.github.io/mbari_wec/main/tutorials).
 
 For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html).
 
-## Messages (.msg)
-Collection of telemetry (feedback) from buoy sensors and microcontrollers.
-
-### Telemetry
-Telemetry data from sensors available per microcontroller
-
-- type: `BCRecord`
-  topic: `/bc_record`
-  Description: (TODO) battery data
-
-- type: `PCRecord`
-  topic: `/pc_record`
-  Description: (TODO) power controller data
-
-- type: `SCRecord`
-  topic: `/sc_record`
-  Description: (TODO) spring controller data
-
-- type: `TFRecord`
-  topic: `/tf_record`
-  Description: (TODO) trefoil data
-
-- type: `XBRecord`
-  topic: `/xb_record`
-  Description: (TODO) Crossbow AHRS data
-
-### Consolidated (Time-Synchronized) Telemetry
-Snapshot in time of all data from the buoy.
-
-- type: `PBRecord`
-  topic: `/pb_record`
-  Description: TODO
-
-## Services (.srv)
-Collection of commands to configure/control the Power Buoy.
-
-### Power Microcontroller
-Services available to configure the Power Microcontroller.
-
-- type: `PCBattSwitchCommand`
-  topic: `/pc_batt_switch_command`
-  args: OFF, ON (enum)
-  Description: TODO
-
-- type: `PCBiasCurrCommand`
-  topic: `/pc_bias_curr_command`
-  args: -15.0 to +15.0 (float, amps)
-  Description: TODO
-
-- type: `PCChargeCurrLimCommand`
-  topic: `/pc_charge_curr_lim_command`
-  args: 2.0 to 12.0 (float, amps)
-  Description: TODO
-
-- type: `PCDrawCurrLimCommand`
-  topic: `/pc_draw_curr_lim_command`
-  args: 2.0 to 12.0 (float, amps)
-  Description: TODO
-
-- type: `PCPackRateCommand`
-  topic: `/pc_pack_rate_command`
-  args: 10 to 50 (int, hz)
-  Description: set PCRecord publish rate in Hz
-
-- type: `PCRetractCommand`
-  topic: `/pc_retract_command`
-  args: 0.4 to 1.0 (float)
-  Description: TODO
-
-- type: `PCScaleCommand`
-  topic: `/pc_scale_command`
-  args: 0.5 to 1.4 (float)
-  Description: TODO
-
-- type: `PCStdDevTargCommand`
-  topic: `/pc_std_dev_targ_command`
-  args: 0 to 2000 (int)
-  Description: TODO
-
-- type: `PCVTargMaxCommand`
-  topic: `/pc_v_targ_max_command`
-  args: 320.0 to 330.0 (float, volts)
-  Description: TODO
-
-- type: `PCWindCurrCommand`
-  topic: `/pc_wind_curr_command`
-  args: -35.0 to 35.0 (float, amps)
-  Description: TODO
-
-- type: `GainCommand`
-  topic: `/gain_command`
-  args: OFF, 1 to 200 (enum or int)
-  Description: TODO
-
-### Battery Microcontroller
-Services available to configure the Battery Microcontroller.
-
-- type: `BCResetCommand`
-  topic: `/bc_reset_command`
-  args: None
-  Description: TODO
-
-### Spring Microcontroller
-- type: `SCPackRateCommand`
-  topic: `/sc_pack_rate_command`
-  args: 10 to 50 (int, hz)
-  Description: set SCRecord publish rate in Hz
-
-- type: `SCResetCommand`
-  topic: `/sc_reset_command`
-  args: None
-  Description: TODO
-
-- type: `ValveCommand`
-  topic: `/valve_command`
-  args: OFF, 1 to 127 (enum or int, seconds)
-  Description: TODO
-
-- type: `PumpCommand`
-  topic: `/pump_command`
-  args: OFF, 1 to 127 (enum or int, seconds)
-  Description: TODO
-
-- type: `BenderCommand`
-  topic: `/bender_command`
-  args: OFF, ON, AUTO (enum)
-  Description: TODO
-
-- type: `TetherCommand`
-  topic: `/tether_command`
-  args: OFF, ON (enum)
-  Description: TODO
-
-### Trefoil Microcontroller
-Services available to configure the Trefoil.
-
-- type: `TFResetCommand`
-  topic: `/tf_reset_command`
-  args: None
-  Description: TODO
-
-- type: `TFSetActualPosCommand`
-  topic: `/tf_set_actual_pos_command`
-  args: OPEN, CLOSED (enum)
-  Description: TODO
-
-- type: `TFSetChargeModeCommand`
-  topic: `/tf_set_charge_mode_command`
-  args: OFF, ON, AUTO_TIME, AUTO_VOLTAGE (enum)
-  Description: TODO
-
-- type: `TFSetCurrLimCommand`
-  topic: `/tf_set_curr_lim_command`
-  args: 500 to 5000 (int, TODO(units))
-  Description: TODO
-
-- type: `TFSetModeCommand`
-  topic: `/tf_set_mode_command`
-  args: POWER_10W, MONITOR_POS, HOLD_POS (enum)
-  Description: TODO
-
-- type: `TFSetPosCommand`
-  topic: `/tf_set_pos_command`
-  args: OPEN, CLOSED (enum)
-  Description: TODO
-
-- type: `TFSetStateMachineCommand`
-  topic: `/tf_set_state_machine_command`
-  args: HOME_MOVE, VEL_MOVE (enum)
-  Description: TODO
-
-- type: `TFWatchDogCommand`
-  topic: `/tf_watchdog_command`
-  args: None
-  Description: TODO
-
-
 ## Quality Declaration
 
 This package claims to be in the **Quality Level 5** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.