Fishing Robot — ROS 2 Workspace¶

Warning

Course project for MAE 263C. A force-controlled robotic fishing arm built on ROS 2 Jazzy, with a MuJoCo simulation backend and a Dynamixel hardware path.

Welcome to the developer documentation for the fishing-bot software stack. The workspace is a standard colcon workspace under software/, organised into seven packages spanning bring-up, control, sensing, planning, robot description and diagnostics.

Getting started

Build the workspace, source it, and launch the simulator or hardware stack.

Getting Started

Architecture overview

Sim/real switch, control loop, package map, and navigation hub.

Architecture Overview

Package guide

In-depth narrative for every package: nodes, algorithms, interactions.

Package Guide

ROS 2 graphs

Separate simulation vs hardware node/topic diagrams with explanations.

ROS 2 Communication Graph

Package reference (auto)

Machine-generated launch args, parameters, messages — always in sync.

Package Reference

Python API (auto)

Module / class / function reference via static analysis.

Python API Reference

Documentation map¶

        flowchart TB
    GS["getting_started"] --> OV["overview"]
    OV --> PKG["packages/"]
    OV --> ROS["ros2/"]
    PKG --> REF["_generated/reference/"]
    PKG --> API["_generated/autoapi/"]
    ROS --> DIA["diagrams/*.mmd"]
    DP["doc_pipeline"] -.-> REF
    DP -.-> ROS

Building the documentation¶

Run ./docs/build.sh when you want the site refreshed from the current source. See The Documentation Pipeline for details.