Merge pull request #12 from teamspatzenhirn/doxygen

Add package documentation using doxygen

README.md

@@ -6,4 +6,9 @@ RViz2 3D scene.
 Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
 package, which is currently only released for ROS1, under the 3-Clause BSD license.
 
-![Screenshot showing the robot velocity as an overlay above the RViz 3D Scene, as well as the expanded properties of the plugin](doc/screenshot_vel_overlay.png)
+See the [hosted doxygen documentation](https://docs.ros.org/en/rolling/p/rviz_2d_overlay_plugins/generated/doxygen) for
+both usage information and source code documentation.
+
+![Screenshot showing the robot velocity as an overlay above the RViz 3D Scene, as well as the expanded properties of the plugin](rviz_2d_overlay_plugins/doc/screenshot_vel_overlay.png)
+
+![Screenshot showing the PieChartDisplay, a circular gauge](rviz_2d_overlay_plugins/doc/screenshot_PieChartDisplay.png)

rviz_2d_overlay_plugins/README.md

@@ -0,0 +1,39 @@
+# rviz_2d_overlay_plugins
+
+Plugin for displaying 2D overlays over the RViz2 3D scene.
+
+Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
+package, which is currently only released for ROS1, under the 3-Clause BSD license.
+
+## Text Overlay
+
+![Screenshot showing the robot velocity as an overlay above the RViz 3D Scene, as well as the expanded properties of the plugin](doc/screenshot_vel_overlay.png)
+
+Both the text itself and formatting options for the text overlay are specified in
+the [OverlayText.msg message type](https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins/blob/main/rviz_2d_overlay_msgs/msg/OverlayText.msg)
+.
+
+### Alignment and Positioning
+
+To allow easy positioning of the overlay along the edges of the rviz window, and to support multiple/dynamic window
+sizes, the position is given by offsets from the respective border.
+Depending on whether the `horizontal_alignment` is `LEFT`, `RIGHT` or  `CENTER`,
+the `horizontal_distance` field sets the distance to the left or right border, or the offset from center.
+
+For `LEFT` and `RIGHT` alignment, a distance of zero means that the text is aligned to the border without any gap,
+a positive distance moves the overlay towards the center.
+
+For `CENTER` alignment, a distance of zero means completely centered, positive values move the overlay towards the
+bottom right of the window.
+
+`TOP` and `BOTTOM` for the vertical alignment work just like `LEFT` and `RIGHT` in the horizontal case.
+
+## Circular Gauge Overlay
+
+![Screenshot showing the PieChartDisplay, a circular gauge](doc/screenshot_PieChartDisplay.png)
+
+The `PieChartDisplay` is a rather boring pie chart, as it only displays a single value.
+`PieChartDisplay` and "Circular Gauge" are used synonymously in this package.
+The gauge allows displaying a
+[std_msgs/Float32](https://github.com/ros2/common_interfaces/blob/rolling/std_msgs/msg/Float32.msg).
+Formatting and positioning, as well as setting the maximum value is only possible in the display options inside rviz.

rviz_2d_overlay_plugins/package.xml

@@ -23,5 +23,6 @@
 
     <export>
         <build_type>ament_cmake</build_type>
+        <rosdoc2>rosdoc2.yaml</rosdoc2>
     </export>
 </package>

rviz_2d_overlay_plugins/rosdoc2.yaml

@@ -0,0 +1,10 @@
+type: 'rosdoc2 config'
+version: 1
+---
+settings:
+  output_dir: ""
+builders:
+  - doxygen: {
+    name: doxygen,
+    output_dir: 'generated/doxygen'
+  }