Developer and Internals » Documentation Guide

Building the Latex PDF Reference Manual

You will need to install doxygen and texlive with all packages
- sudo apt-get update
- sudo apt-get install doxygen texlive-full
- You will likely need new version of doxygen 1.9.4 to fix ghostscript errors
Go into the project folder and generate latex files
- cd open_vins/
- doxygen
- This should run, and will stop if there are any latex errors
- On my Ubuntu 20.04 this installs version "2019.20200218"
Generate a PDF from the latex files
- cd doxgen_generated/latex/
- make
- File should be called refman.pdf

Add a doc/pagename.dox file, copy up-to-date license header.
Add a @page definition and title to your page
If the page is top-level, list it in doc/00-page-order.dox to ensure it gets listed at a proper place
If the page is not top-level, list it using @subpage in its parent page
Leverage @section and @subsection to separate the page

More details on how to format your documentation can be found here:
Use the inline commands for latex \f $ <formula_here> \f $ (no space between f and $)
Use block to have equation centered on page \f [ <big_formula_here> \f ] (no space between f and [])

Clone the m.css repository which has scripts to build
- Ensure that it is not in the same folder as your open_vins
- git clone https://github.com/mosra/m.css
- This repository contains the script that will generate our documentation
You will need to install python3.6
- sudo add-apt-repository ppa:deadsnakes/ppa
- sudo apt-get update
- sudo apt-get install python3.6 python3.6-distutils
- curl https://bootstrap.pypa.io/pip/3.6/get-pip.py | sudo python3.6
- sudo -H pip3.6 install jinja2 Pygments
- sudo apt install texlive-base texlive-latex-extra texlive-fonts-extra texlive-fonts-recommended
To use the bibtex citing you need to have
- bibtex and perl executable in search path
- These should be installed through the texlive installation
- http://www.doxygen.nl/manual/commands.html#cmdcite
Go into the documentation folder and build
- cd m.css/documentation/
- python3.6 doxygen.py <path_to_Doxyfile-mcss>
- python3.6 doxygen.py ~/catkin_ws/src/open_vins/Doxyfile-mcss
If you run into errors, ensure your python path is set to use the 3.6 libraries
- export PYTHONPATH=/usr/local/lib/python3.6/dist-packages/
You might need to comment out the enable_async=True flag in the doxygen.py file
This should then build the documentation website
Open the html page ~/catkin_ws/src/open_vins/doxgen_generated/html/index.html to view documentation

This is based on the m.css docs for custom theme
Files needed are in open_vins/docs/mcss_theme/
Copy the following files into the m.css/css/ folder
- m-theme-udel.css
- pygments-tango.css
- m-udel.css
Most settings are in the m-theme-udel.css file
To generate / compile the edited theme do:
- python3.6 postprocess.py m-udel.css m-documentation.css -o m-udel+documentation.compiled.css
- Copy this generated file into open_vins/docs/css/
- Regenerate the website and it should change the theme