.. xbot2 documentation master file, created by
   sphinx-quickstart on Fri Dec 27 15:17:54 2019.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

Welcome to xbot2's documentation!
=================================
The `xbot2` library is a real-time middleware for robotic applications.

Features
--------
 - a flexible hardware abstraction layer (HAL) which allows to cleanly support
   custom devices
 - external framework support (notably ROS) from the real-time domain
 - a multi-thread plugin handler to develop and run custom RT or non-RT
   components (plugins)
 - useful abstractions for inter-plugin communication, and configuration

Contribute and Support
----------------------
If you're a member of the IIT-HHCM team *(Humanoid and Human-Centred
Mechatronics Lab)*, you can have access to the `issue tracker <https://github.com/ADVRHumanoids/xbot2_wip/issues>`_
and `source code <https://github.com/ADVRHumanoids/xbot2_wip>`_. Otherwise,
you are welcome to open `issues at this link <https://github.com/ADVRHumanoids/XBotControl/issues>`_!

Cite our work
-------------
..with the bibtex below!

.. code-block:: latex

    @article{laurenzi2023xbot2,
        title = {The XBot2 real-time middleware for robotics},
        journal = {Robotics and Autonomous Systems},
        volume = {163},
        pages = {104379},
        year = {2023},
        issn = {0921-8890},
        doi = {https://doi.org/10.1016/j.robot.2023.104379},
        url = {https://www.sciencedirect.com/science/article/pii/S0921889023000180},
        author = {Arturo Laurenzi and Davide Antonucci and Nikos G. Tsagarakis and Luca Muratore},
        keywords = {Real-time, Middleware, ROS, Hardware abstraction layer, Simulation}
    }


Contents
--------

.. toctree::
   :maxdepth: 2

   quickstart.rst
   cheat.rst
   porting_v2_10.rst