Internal Note: Here is how we create the manual.

First focus on getting internal documentation refined and organized
Create a skeleton of what the manual would be to start working off of
User manual will pull information from internal documentation, but also include things for user workflow, including things like hardware requirements, disclaimers, and "happy path" examples

Introduction

Overview

System diagram
Relationship with RapidPlan(Create & Control)
1. incl. references to the manuals
System requirements
1. Supported vision sensors
  1. There will only be Intel RealSense camera support for the Beta release
2. Aruco tag definition and fabrication/ordering requirements
  1. Aruco pattern needs to be printed 9cm x 9cm size (in the future for larger robot systems, this size may need to be larger)
  2. The pattern needs to be crisp and high contrast white and black
  3. Material surface with Aruco pattern needs to be matte and non-reflective
  4. This needs to be on a reliably rigid flat surface/material (plate) that will not flex during robot motion, but does not have to be so thick for anything load bearing (3mm thick is likely OK for an aluminum 9cm x 9cm tag)
  5. There should be a mounting hole in each corner of the plate for a user to be able to mount it on the robot end effector or in the scene
  6. (2) dowel pin holes should be provided between the mounting holes on at least (2) of the sides of the plate. In the event a user needs to remove the Aruco tag/plate for a reason, it can be easily replaced accurately.
3. vrd definition
4. PC spec and OS requirements

Safety Precautions
Cameras
1. <TODO>Describe how camera CAD with the field of view (FOV) of the camera visible can be imported into RPC (CAD obtained from sensor provider for now) with “ignore collisions” checked to be able to verify aruco tags could be visible to the camera. A picture here could help
Aruco Calibration Tag Mounting
1. Static mounted
2. Robot mounted

Calibration
The calibration process requires a cal.json file which contains the cameras' serial numbers, Aruco markers' ids and measurements, and calibration targets. For the calibration process to work as expected, every project needs to have a home target named as robotname_home, for example, if we have a Fanuc robot in the project and we will use it for calibration we need to have a Fanuc_home target. The calibration targets should be connected on Roadmap to the home pose in RPC project in order for the calibration to succeed.
For the further information and instruction, refer to cal.json
Configuration
A rapidsense.json is another file which is required to start rapidsense. This configuration file defines the volumes in the scene.

(Happy path of a user workflow)

Scene Update
This feature is used for obstacle detection. This is the main functionality of Beta release
RapidSense Filters
How to apply the different filters with their API and what they can do
- ScanScene (Obstacle Detection) filter
  - <TODO>description of the function and API. Streaming, Snapshot, and Clear RS voxel data modes
API

FAQ
Common Problems and Solutions
- Error code
  - <TODO> error code table with description, common causes, and common solutions.
Contact Information