Concepts (#220)

* Filter Service Concept

* GPS Service Concept

* Add more info to GPS service

* Add support@farm-ng.com to ssh instructions

* Fix email/broken links

* Update website/sidebars.js

Co-authored-by: Kyle Coble <53625197+Hackerman342@users.noreply.github.com>

* Organize concepts by level of complexity

Co-authored-by: Kyle Coble <53625197+Hackerman342@users.noreply.github.com>

* Add requirement of RTK base connection

* Add protobuff defs to Concepts

* Note for pvt messages not requiring wifi

* Oak service + placeholder for can service

* Clarified there might be multiple oak services

* Typo fixes (1)

Co-authored-by: Patrick Mihelich <484900+mihelich@users.noreply.github.com>

* Typo fixes (2)

Co-authored-by: Patrick Mihelich <484900+mihelich@users.noreply.github.com>

* Typo fixes (3)

Co-authored-by: Patrick Mihelich <484900+mihelich@users.noreply.github.com>

---------

Co-authored-by: Kyle Coble <53625197+Hackerman342@users.noreply.github.com>
Co-authored-by: Patrick Mihelich <484900+mihelich@users.noreply.github.com>

website/docs/concepts/canbus_service/README.md

@@ -0,0 +1,8 @@
+---
+id: canbus-overview
+title: CANBUS
+---
+
+# Canbus Service Overview
+
+(Coming soon!)

website/docs/concepts/filter_service/README.md

@@ -0,0 +1,99 @@
+---
+id: filter-overview
+title: Filter
+---
+
+# Filter Service Overview
+
+The Filter service is the state estimation core of the Amiga, crucial for understanding the robot's
+position, orientation, and movement within its environment.
+Utilizing an **Unscented Kalman Filter**, it seamlessly fuses data from various sources like wheel odometry,
+GPS, and the IMU to provide a consistent and accurate representation of the robot's current state.
+
+The primary goal of the Filter service is to abstract the complexity involved in state estimation,
+providing users with clear, reliable information about the robot's pose, heading, and movement trajectory.
+This allows users to interact with and direct the Amiga effectively, without getting immersed in the
+technical depths of data fusion or sensor calibration.
+
+In essence, the Filter does the intricate work of synthesizing sensor data, enabling users to
+confidently interpret and utilize the Amiga's spatial information without needing extensive expertise
+in robotics or state estimation.
+
+## Subscriptions
+
+The `Filter` is a client from the following services:
+
+- Canbus (for wheel odometry)
+- GPS
+- Oak0 (for IMU data)
+
+For the Filter service to function correctly, these services must be operational and communicating
+relevant sensor data.
+Since the Filter relies on GPS data, the Amiga must have a GPS connected to an RTK base station.
+
+## Convergence Requirements
+
+For the state estimation to be considered valid and the results to be reliable, certain criteria
+need to be met, including:
+
+- The robot is connected to Wi-Fi, ensuring communication continuity.
+- The GPS service is receiving messages, with `accuracyNorth` and `accuracyEast` values smaller
+than 0.01, indicating high precision.
+- The oak0 service is active and transmitting IMU data.
+
+Upon startup or recalibration, the robot needs to be moved slightly to allow the filter to converge
+(indicated by `has_converged` = true).
+
+:::info Remember
+State estimation is a dynamic process, and environmental factors or sensor issues can affect convergence.
+Regular calibration and adherence to the recommended workflows are essential for maintaining accurate
+state estimation.
+:::
+
+## API
+
+Users can interact with the filter service using these commands through an EventClient of
+the filter service:
+
+- `/calibrate`: Triggers the calibration process, adjusting the IMU orientation relative to the robot
+and calculating gyroscope biases.
+- `/get_state`: Retrieves a protobuf message of type FilterState, containing the robot’s pose,
+heading (in radians), convergence status, and pose uncertainty.
+- `/get_track`: Returns the current track of the robot, essentially the path that the robot has traveled.
+- `/clear_track`: Clears the current track, useful when initiating a new tracking sequence or
+recalibrating the system.
+
+## Filter Service in Practice
+
+When planning to record a new track, the recommended workflow is as follows:
+
+- Start with `/clear_track`. This will clear the current track on memory and allow the user to
+"start fresh"
+- User drives the robot to generate the desired track
+- Once satisfied, the user stops the robot
+- Get the track with the API `/get_track`.
+
+:::tip TIP
+For a comprehensive understanding of the list of variables available in the filter state messages,
+make sure to check its [protobuf definition](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/protos/farm_ng/filter/filter.proto).
+:::
+
+## Features
+
+The Filter service, while sophisticated, is designed with user-friendliness in mind.
+It not only provides essential information on the robot's current state but also empowers users to:
+
+1. **Track Creation and Retrieval**:
+The system automatically logs the robot's path, creating tracks that can be reviewed and utilized for
+future tasks. This feature is invaluable for repeated navigation tasks or analyzing the robot's
+coverage over a workspace.
+
+2. **Real-time State Estimation**:
+By continuously synthesizing data from multiple sensors, the Filter offers real-time insights into
+the robot's position, orientation, and trajectory.
+This is crucial for tasks that require precise navigation or environment mapping.
+
+3. **Calibration on Demand**:
+Environmental changes or operational demands may necessitate recalibration.
+The /calibrate command simplifies this, enabling users to quickly recalibrate the IMU, ensuring
+continued accuracy in state estimation.

website/docs/concepts/gps_service/README.md

@@ -0,0 +1,97 @@
+---
+id: gps-overview
+title: GPS
+---
+
+# GPS Service Overview
+
+The GPS service is an integral component of the Amiga's navigation system, utilizing a
+high-precision Ublox module to determine the robot's exact position on Earth.
+This service is indispensable for tasks that require geo-location, from simple
+navigation to complex tasks like field mapping or precision agriculture.
+
+The primary role of the GPS service is to continuously capture and broadcast detailed
+positional data, which other components and services within the Amiga's system can utilize.
+It simplifies the intricacies of satellite-based positioning, offering users straightforward
+access to precise, real-time location data.
+
+In short, the GPS service continuously decodes and transmits location data, allowing users
+and systems to tap into accurate geospatial information without dealing with the
+complexities of GPS data interpretation.
+
+## Standalone Operation
+
+Unlike other services, the GPS service operates independently and is not a client of any other services.
+Its sole responsibility is to interpret and publish the data received from the GPS module.
+
+## Message Types
+
+Clients can subscribe to the GPS service to receive messages, which are typically of type `pvt` or `relposned`.
+These messages contain rich data sets that include the robot's current geospatial coordinates,
+velocity, time, and other relevant GPS data.
+
+:::info INFO
+There are two types of GPS messages: **PVT** and **RELPOSNED**.
+
+**PVT** (Position, Velocity, and Time) messages provide the all-in-one solution: position, velocity,
+and time.
+It contains details like longitude, latitude, altitude, speed, and UTC time.
+
+**RELPOSNED** (Relative Positioning) messages provide relative position information in a
+North, East, Down (N-E-D) frame. It's mainly used for applications requiring relative positioning
+between two receivers, often as a part of Real Time Kinematics (RTK) solutions.
+It shows the difference in position between a "moving" receiver and a "fixed" reference receiver.
+:::
+
+:::tip TIP
+For a comprehensive understanding of the list of variables available in each GPS message,
+make sure to check their [protobuf definitions](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/protos/farm_ng/gps/gps.proto).
+:::
+
+## Requirements
+
+For the GPS service to function optimally, certain conditions must be met:
+
+- The robot must have an active Wi-Fi connection, ensuring real-time data communication.
+  - **NOTE**: The robot needs to be connected to Wi-Fi for `relposned` messages.
+ However, an internet connection is not required for `pvt` messages.
+- Users need to input credentials for connecting to an RTK base station, enhancing the GPS accuracy.
+The required credentials include:
+  - NTRIP ID: The server address of the base station.
+  - NTRIP PORT: The port used by the NTRIP server.
+  - NTRIP MOUNTPOINT: Specific mount point on the NTRIP server.
+  - USER: Username for accessing the base station.
+  - PASSWORD: Corresponding password for the above username.
+
+:::info NTRIP (Network Transport of RTCM via Internet Protocol)
+NTRIP is a protocol for streaming differential GPS (DGPS) data over the internet, enabling RTK
+corrections in areas with cellular coverage.
+Connecting to an NTRIP service enhances the GPS accuracy, crucial for tasks requiring precision navigation.
+:::
+
+:::tip Pro Tip for California Users
+If you're operating in California, consider [**signing up**](https://www.surveymonkey.com/survey-taken?sm=8oRYqrBI74rDSaBAdtcV5GY0_2FRs585_2FD4c_2BTVJDw_2Be9msUlD1XrZDpZ1Rvu0DLWBo8bsPAjLG8jj8DbutXMqryiezNdZiuVvgEb0osp55QY_3D)
+for a free CRTN
+(California Real Time Network) account.
+Managed by UC San Diego, [CRTN](http://sopac-csrc.ucsd.edu/index.php/crtn/) provides access
+to multiple base stations across the state, offering enhanced GPS accuracy.
+Other states or regions may have similar services available.
+Always check local resources for the best positioning support in your area.
+:::
+
+## Utilizing GPS Data
+
+The GPS data, while technical, is immensely valuable.
+With high-precision location information, users can:
+
+1. **Enhance Navigation**:
+Use the precise geospatial data in navigation tasks, allowing the Amiga to traverse pre-defined
+routes with minimal deviation.
+
+2. **Inform Decision-Making**:
+Analyze the GPS data to make informed decisions about resource allocation, route optimization,
+and task planning.
+
+3. **Improve Operational Efficiency**:
+Leverage the accuracy of real-time GPS data to enhance the reliability and efficiency of automated tasks,
+reducing the need for human intervention and potential for error.

website/docs/concepts/oak_service/README.md

@@ -0,0 +1,76 @@
+---
+id: oak-overview
+title: OAK
+---
+
+# Oak Service Overview
+
+The OAK service is a versatile component in the Amiga ecosystem, providing valuable data streams
+from the onboard OAK-D device, which includes stereo vision capabilities and an Inertial Measurement
+Unit (IMU).
+This service doesn't serve a singular purpose; instead, it offers a range of data that can be
+instrumental for various user-defined applications, from navigation and mapping to object detection
+and data collection.
+
+The OAK service is autonomous, not relying on other services to function.
+However, its data, especially the IMU information, plays a significant role in the Amiga's autonomous
+navigation capabilities, as it's fused with GPS and wheel odometry data in the Filter service
+(using an Unscented Kalman Filter).
+
+# Multiple Instances
+
+Depending on the number of OAK devices connected to the Amiga, there might be multiple instances
+of the OAK service running concurrently.
+For example, with two OAK cameras, there will be an oak0 service and an oak1 service.
+Each instance is responsible for managing the data streams from its respective OAK-D device.
+
+## Standalone Operation
+
+Unlike other services, each Oak service operates independently and is not a client of any other services.
+
+## Message Types
+
+Clients can subscribe to the OAK service to access the messages it publishes.
+These messages can include various data types such as:
+
+- Stereo vision (right and left)
+- RGB data
+- Accelerometer data
+- Gyroscope data
+
+The specifics of these messages, including their data structures and formats, are defined in the
+service's [protobuf definitions](https://github.com/farm-ng/farm-ng-amiga/blob/main-v2/protos/farm_ng/oak/oak.proto),
+which users can refer to for detailed information.
+
+## Requirements
+
+For the Oak service to function, there's only a single requirement:
+the oak camera(s) need to be powered via the POE Switch.
+
+## API
+
+The OAK service offers a few API endpoints that allow users to interact with and configure the
+OAK-D device's settings:
+
+- `/calibration`: Retrieves the calibration of the device, specifically the intrinsic parameters of
+the cameras.
+This is typically a one-time requirement unless the device undergoes significant changes or maintenance.
+
+- `/camera_settings/rgb`: Allows users to configure the RGB camera settings.
+If no settings are specified in the request, the service will return the current settings.
+
+- `/camera_settings/mono`: Similar to the RGB settings endpoint, this allows users to configure
+the mono camera settings or retrieve them if no new configurations are specified.
+
+While the specifics of these configurations are found in the protobuf definitions, they offer users
+the ability to customize the camera performance as per their application requirements,
+potentially adjusting parameters like exposure, focus, and white balance.
+
+## Practical Applications
+
+One of the key applications of the OAK service within the Amiga system is contributing to the robot's
+autonomous navigation.
+The gyroscope data from the OAK service's IMU is crucial for the robot's state estimation,
+as it's fused with other data sources in the Filter service.
+This fusion helps in achieving accurate positioning and orientation, enabling the Amiga
+to navigate effectively and autonomously.

website/docs/ssh/README.md

@@ -8,7 +8,11 @@ The only requirement is to **be connected to the same network of your Amiga**.
 
 ### Sign up for a farm-ng-user account
 
-#### 1. Request SSH access to our Fleet Customer Support via email (coming up soon)
+#### 1. Request SSH access to our Fleet Customer Support via email
+
+Email [support@farm-ng.com](mailto:support@farm-ng.com) to request SSH access.
+Make sure to include your name, email, and robot information on the email
+to expedite the process.
 
 #### 2. You will receive a confirmation email with a link for sign-up along with instructions
 
@@ -105,6 +109,8 @@ cat ~/.ssh/id_rsa.pub # Copy it with Shift + Ctrl + C
 
 They will grant you access to your robot.
 
+As a reminder, our email is [support@farm-ng.com](mailto:support@farm-ng.com)
+
 Congratulations, you're done setting up your account!
 
 :::info INFO

website/sidebars.js

@@ -116,6 +116,10 @@ const sidebars = {
     "concepts/concepts-index",
     {
       "Service Overviews": [
+        "concepts/canbus_service/canbus-overview",
+        "concepts/oak_service/oak-overview",
+        "concepts/gps_service/gps-overview",
+        "concepts/filter_service/filter-overview",
         "concepts/controller_service/controller-overview",
       ],
     },