From 942b785141b1f88a1f1268a9d88cf64979d2a2bf Mon Sep 17 00:00:00 2001
From: HenryZhuHR <26506195@qq.com>
Date: Mon, 20 Nov 2023 07:23:10 +0000
Subject: [PATCH] =?UTF-8?q?=F0=9F=93=9D=20docs?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/docs.pnpm.yml                |  2 +-
 core                                           |  2 +-
 docs/install.md                                |  8 ++++++++
 docs/{core => modules}/base/base_node.md       |  0
 .../base/images/heartbeat-mechanism.svg        |  0
 .../controller/motion_controller.md            |  1 +
 .../manager/system_manager.md                  |  0
 docs/modules/nav/nav.md                        | 18 ++++++++++++++++++
 8 files changed, 29 insertions(+), 2 deletions(-)
 create mode 100644 docs/install.md
 rename docs/{core => modules}/base/base_node.md (100%)
 rename docs/{core => modules}/base/images/heartbeat-mechanism.svg (100%)
 rename docs/{core => modules}/controller/motion_controller.md (99%)
 rename docs/{core => modules}/manager/system_manager.md (100%)
 create mode 100644 docs/modules/nav/nav.md

diff --git a/.github/workflows/docs.pnpm.yml b/.github/workflows/docs.pnpm.yml
index 9de1982..cbc07cd 100644
--- a/.github/workflows/docs.pnpm.yml
+++ b/.github/workflows/docs.pnpm.yml
@@ -42,7 +42,7 @@ jobs:
           version: 8
           run_install: |
             - recursive: true
-              args: [--frozen-lockfile, --strict-peer-dependencies]
+              args: [--no-frozen-lockfile, --strict-peer-dependencies]
             - args: [--global, gulp, prettier, typescript]
 
       - name: Deploy to GitHub Pages
diff --git a/core b/core
index 8feb060..3eccd63 160000
--- a/core
+++ b/core
@@ -1 +1 @@
-Subproject commit 8feb060a8086a1ac8ddf31edcbd3c3f6d2267d28
+Subproject commit 3eccd635c74edaa5cd983cfcb585b04ae6bb1718
diff --git a/docs/install.md b/docs/install.md
new file mode 100644
index 0000000..5069cb4
--- /dev/null
+++ b/docs/install.md
@@ -0,0 +1,8 @@
+
+
+# 安装
+
+## 树莓派
+
+[Install Ubuntu on a Raspberry Pi](https://ubuntu.com/download/raspberry-pi)
+
diff --git a/docs/core/base/base_node.md b/docs/modules/base/base_node.md
similarity index 100%
rename from docs/core/base/base_node.md
rename to docs/modules/base/base_node.md
diff --git a/docs/core/base/images/heartbeat-mechanism.svg b/docs/modules/base/images/heartbeat-mechanism.svg
similarity index 100%
rename from docs/core/base/images/heartbeat-mechanism.svg
rename to docs/modules/base/images/heartbeat-mechanism.svg
diff --git a/docs/core/controller/motion_controller.md b/docs/modules/controller/motion_controller.md
similarity index 99%
rename from docs/core/controller/motion_controller.md
rename to docs/modules/controller/motion_controller.md
index f427acb..bf12a3e 100644
--- a/docs/core/controller/motion_controller.md
+++ b/docs/modules/controller/motion_controller.md
@@ -1,6 +1,7 @@
 # 运动控制管理器
 
 
+
 ## 调试记录
 
 ### 2023.08.24 
diff --git a/docs/core/manager/system_manager.md b/docs/modules/manager/system_manager.md
similarity index 100%
rename from docs/core/manager/system_manager.md
rename to docs/modules/manager/system_manager.md
diff --git a/docs/modules/nav/nav.md b/docs/modules/nav/nav.md
new file mode 100644
index 0000000..3cccff5
--- /dev/null
+++ b/docs/modules/nav/nav.md
@@ -0,0 +1,18 @@
+根据 [Getting Started](https://navigation.ros.org/getting_started/index.html)安装，Nav2 和 [Turtlebot3](https://github.com/robotis-ros2-release/turtlebot3-release)
+```bash
+sudo apt install ros-humble-navigation2
+sudo apt install ros-humble-nav2-bringup
+```
+
+```bash
+sudo apt install ros-humble-turtlebot3-gazebo
+```
+
+
+写入环境变量 
+
+```bash
+source /opt/ros/humble/setup.bash
+export TURTLEBOT3_MODEL=waffle
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
+```
\ No newline at end of file