Revert "[Rolling] Migrate Nav2 Documentation from Sphinx to MkDocs"

.circleci/config.yml

@@ -6,51 +6,32 @@ references:
       path: .
   setup_doc_dependencies: &setup_doc_dependencies
     run:
-      name: Install documentation dependencies
+      name: Install Doc Dependencies
       command: |
         export DEBIAN_FRONTEND=noninteractive
         apt update
         apt install -y \
+          doxygen \
           git \
+          graphviz \
+          make \
+          openjdk-8-jre \
           openssh-server \
           python3-pip \
-          python3-venv
-        python3 -m venv /nav2_docs/venv
-        . /nav2_docs/venv/bin/activate
+          ttf-dejavu
         pip3 install -r requirements.txt
-  build_docs: &build_docs
+  make_docs: &make_docs
     run:
-      name: Build documentation
       command: |
-        . /nav2_docs/venv/bin/activate
-        mkdocs build
-  store_built_docs: &store_built_docs
+        make html
+  store_docs: &store_docs
     store_artifacts:
-      path: ./site
-      destination: build_site
+        path: _build/html
+        destination: html
   publish_docs: &publish_docs
     run:
-      name: Deploy documentation
       command: |
-        # Set up git configuration
-        git config user.name ci
-        git config user.email ci@noreply.com
-
-        . /nav2_docs/venv/bin/activate
-
-        TITLE=${CIRCLE_BRANCH^}
-        mike deploy $CIRCLE_BRANCH --title=$TITLE --push --allow-empty \
-          --message "[skip ci] Deployed $CIRCLE_SHA1 to $CIRCLE_BRANCH"
-
-        # Set default version only once
-        if ! git cat-file -e origin/gh-pages:index.html; then
-          mike set-default rolling --push
-          echo "The default version is set to Rolling"
-        fi
-  store_published_docs: &store_published_docs
-    store_artifacts:
-      path: ./site
-      destination: publish_site
+        make publish
   install_deployment_key: &install_deployment_key
     add_ssh_keys:
       fingerprints:
@@ -61,21 +42,20 @@ commands:
     description: "Install documentation dependencies"
     steps:
       - *setup_doc_dependencies
-  build_and_store_docs:
-    description: "Build and store docs"
+  build_docs:
+    description: "Build docs"
     steps:
-      - *build_docs
-      - *store_built_docs
-  publish_and_store_docs:
-    description: "Commit newly built docs to gh-pages branch and store the build result"
+      - *make_docs
+      - *store_docs
+  publish_docs_to_gh_pages_branch:
+    description: "Commit newly built docs to gh-pages branch"
     steps:
       - *publish_docs
-      - *store_published_docs
 
 executors:
   docs_exec:
     docker:
-      - image: ubuntu:noble
+      - image: ubuntu:focal
     working_directory: /nav2_docs
 
 jobs:
@@ -84,30 +64,29 @@ jobs:
     steps:
       - *on_checkout
       - install_doc_dependencies
-      - build_and_store_docs
+      - build_docs
+      - persist_to_workspace:
+          root: .
+          paths:
+            - _build
   docs_publish:
     executor: docs_exec
     steps:
       - *on_checkout
       - install_doc_dependencies
       - *install_deployment_key
-      - publish_and_store_docs
+      - attach_workspace:
+          at: .
+      - publish_docs_to_gh_pages_branch
 
 workflows:
-  build_docs:
-    jobs:
-      - docs_build:
-          filters:
-            branches:
-              ignore:
-                - rolling
-  publish_docs:
+  version: 2
+  build_and_publish_docs:
     jobs:
+      - docs_build
       - docs_publish:
-          # 'serial-group' prevents gh-pages push conflicts when multiple branches deploy simultaneously.
-          # Serial group ensures only one docs_publish job runs at a time across the org.
-          serial-group: << pipeline.project.slug >>/gh-pages-deploy
+          requires:
+            - docs_build
           filters:
             branches:
-              only:
-                - rolling
+              only: master

.devcontainer/devcontainer.json

@@ -12,6 +12,7 @@
             "extensions": [
                 "eamodio.gitlens",
                 "esbenp.prettier-vscode",
+                "GitHub.copilot",
                 "streetsidesoftware.code-spell-checker"
             ]
         }

.dockerignore

@@ -10,4 +10,4 @@
 .vscode/
 **.Dockerfile
 **Dockerfile
-site
+_build/

.github/workflows/claude.yml

@@ -0,0 +1,53 @@
+name: Claude PR Assistant
+
+on:
+  issue_comment:
+    types: [created]
+  pull_request_review_comment:
+    types: [created]
+  issues:
+    types: [opened, assigned]
+  pull_request_review:
+    types: [submitted]
+
+jobs:
+  claude-code-action:
+    if: |
+      (
+        (github.event_name == 'issue_comment' && contains(github.event.comment.body, '@claude')) ||
+        (github.event_name == 'pull_request_review_comment' && contains(github.event.comment.body, '@claude')) ||
+        (github.event_name == 'pull_request_review' && contains(github.event.review.body, '@claude')) ||
+        (github.event_name == 'issues' && contains(github.event.issue.body, '@claude'))
+      ) && (
+        github.actor == 'SteveMacenski' ||
+        github.actor == 'tonynajjar' ||
+        github.actor == 'ruffsl' ||
+        github.actor == 'doisyg' ||
+        github.actor == 'padhupradheep'
+      )
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: read
+      issues: read
+      id-token: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v7
+        with:
+          fetch-depth: 1
+
+      - name: Run Claude PR Action
+        uses: grll/claude-code-action@beta
+        with:
+          use_oauth: true
+          claude_access_token: ${{ secrets.CLAUDE_ACCESS_TOKEN }}
+          claude_refresh_token: ${{ secrets.CLAUDE_REFRESH_TOKEN }}
+          claude_expires_at: ${{ secrets.CLAUDE_EXPIRES_AT }}
+          secrets_admin_pat: ${{ secrets.SECRETS_ADMIN_PAT }}
+          allowed_tools: |
+            Bash
+          timeout_minutes: "60"
+          model: "claude-sonnet-4-20250514"
+          # direct_prompt: provide prompt information, probably more useful if this job is split into many. Reviewer, implementer, Q&A answerer, etc so that each have their own context

.github/workflows/claude_oath.yml

@@ -0,0 +1,21 @@
+name: Claude OAuth
+
+on:
+  workflow_dispatch:
+    inputs:
+      code:
+        description: 'Authorization code (leave empty for step 1)'
+        required: false
+
+permissions:
+  actions: write  # Required for cache management
+  contents: read  # Required for basic repository access
+
+jobs:
+  auth:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: grll/claude-code-login@v1
+        with:
+          code: ${{ inputs.code }}
+          secrets_admin_pat: ${{ secrets.SECRETS_ADMIN_PAT }}

.github/workflows/precommit.yaml

@@ -4,8 +4,7 @@ name: pre-commit
 on:
   pull_request:
   push:
-    branches:
-      - rolling
+    branches: [main]
 
 jobs:
   pre-commit:

.gitignore

@@ -1,6 +1,6 @@
-venv
-site
-__pycache__
-
-macros/cache/*
-!macros/cache/README.md
+_build
+lib/
+bin/
+pyvenv.cfg
+.DS_Store
+venv/

.pre-commit-config.yaml

@@ -16,14 +16,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.4.2
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words']
-        exclude: \.(svg|pyc|drawio|dcf|eds)$
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio|dcf|eds)$
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v6.0.0
+    rev: v5.0.0
     hooks:
       - id: end-of-file-fixer
       - id: mixed-line-ending

.vscode/tasks.json

@@ -4,44 +4,32 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "Create venv",
-            "type": "shell",
-            "command": "python3",
-            "args": ["-m", "venv", "venv"],
-            "problemMatcher": []
-        },
-        {
-            "label": "Install dependencies",
-            "type": "shell",
-            "command": "${workspaceFolder}/venv/bin/pip",
-            "args": ["install", "-r", "requirements.txt"],
-            "dependsOn": ["Create venv"],
-            "problemMatcher": []
-        },
-        {
-            "label": "Build Nav2 Docs",
+            "label": "Build",
+            "icon": {
+                "id": "gear"
+            },
             "type": "shell",
-            "command": "${workspaceFolder}/venv/bin/mkdocs",
-            "args": ["build"],
-            "dependsOn": ["Install dependencies"],
+            "command": "make html",
+            "isBackground": false,
             "problemMatcher": [],
-            "presentation": {
-                "reveal": "always",
-                "panel": "new"
-            }
+            "group": {
+                "kind": "build",
+                "isDefault": true
+              }
         },
         {
-            "label": "Start Nav2 Docs live preview server",
+            "label": "Autobuild",
+            "icon": {
+                "id": "debug-start"
+            },
             "type": "shell",
-            "command": "${workspaceFolder}/venv/bin/mkdocs",
-            "args": ["serve"],
-            "dependsOn": ["Install dependencies"],
+            "command": "make autobuild",
+            "isBackground": true,
             "problemMatcher": [],
-            "presentation": {
-                "reveal": "always",
-                "panel": "new"
-            },
-            "isBackground": true
-        },
+            "group": {
+                "kind": "build",
+                "isDefault": false
+              }
+        }
     ]
 }