use README.md

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

point_cloud_transport/doc/conf.py

@@ -57,6 +57,7 @@
     'sphinx.ext.doctest',
     'sphinx.ext.coverage',
     'sphinx_rtd_theme',
+    "myst_parser",
 ]
 
 # Add any paths that contain templates here, relative to this directory.

point_cloud_transport/doc/index.rst

@@ -1,83 +1,5 @@
-Overview
-========
-
-The `point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_ an be used to
-publish and subscribe to `PointCloud2 <http://docs.ros.org/latest/api/sensor_msgs/html/msg/PointCloud2.html>`_ messages. At this level of usage, it is similar to using ROS 2 Publishers and Subscribers. Using `point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_
-instead of the ROS 2 primitives, however, gives the user much greater flexibility in how point clouds are communicated between nodes.
-
-Usage
-=====
-
-`point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_ can be used to publish
-and subscribe to `PointCloud2 <http://docs.ros.org/latest/api/sensor_msgs/html/msg/PointCloud2.html>`_
-messages. At this level of usage, it is similar to using ROS 2 Publishers and Subscribers.
-Using `point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_ instead of the
-ROS 2 primitives, however, gives the user much greater flexibility in how point clouds are communicated
-between nodes.
-
-For complete examples of publishing and subscribing to point clouds using
-`point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_\ ,
-see `Tutorial <https://github.com/ros-perception/point_cloud_transport_tutorial>`_.
-
-Communicating PointCloud2 messages using `point_cloud_transport <https://github.com/ros-perception/point_cloud_transport>`_\ :
-
-.. code-block:: cpp
-
-   #include <rclcpp/rclcpp.hpp>
-   #include <point_cloud_transport/point_cloud_transport.hpp>
-
-   void Callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg)
-   {
-     // ... process the message
-   }
-
-   auto node = std::make_shared<rclcpp::Node>();
-   point_cloud_transport::PointCloudTransport pct(node);
-   point_cloud_transport::Subscriber sub = pct.subscribe("in_point_cloud_base_topic", 1, Callback);
-   point_cloud_transport::Publisher pub = pct.advertise("out_point_cloud_base_topic", 1);
-
-Alternatively, you can use point_cloud_transport outside of ROS2.
-
-.. code-block:: cpp
-
-   #include <sensor_msgs/msg/point_cloud2.hpp>
-
-   #include <point_cloud_transport/point_cloud_codec.hpp>
-
-   point_cloud_transport::PointCloudCodec codec;
-
-   sensor_msgs::msg::PointCloud2 msg;
-   // ... do some cool pointcloud generation stuff ...
-
-   // untyped version (outputs an rclcpp::SerializedMessage)
-   rclcpp::SerializedMessage serialized_msg;
-   bool success = codec.encode("draco", msg, serialized_msg);
-
-   // OR
-
-   // typed version (outputs whatever message your selected transport returns,
-   // for draco that is a point_cloud_interfaces::msg::CompressedPointCloud2)
-   point_cloud_interfaces::msg::CompressedPointCloud2 compressed_msg;
-   bool success = codec.encode("draco", msg, compressed_msg);
-
-Known transports
-----------------
-
-* `draco_point_cloud_transport <https://github.com/ros-perception/point_cloud_transport_plugins/tree/rolling/draco_point_cloud_transport>`_\ : Lossy compression via Google
-* `zlib_point_cloud_transport <https://github.com/ros-perception/point_cloud_transport_plugins/tree/rolling/zlib_point_cloud_transport>`_\ : Lossless compression via Zlib compression.
-* `zstd_point_cloud_transport <https://github.com/ros-perception/point_cloud_transport_plugins/tree/rolling/zstd_point_cloud_transport>`_\ : Lossless compression via Zstd compression.
-* Did you write one? Don't hesitate and send a pull request adding it to this list!
-
-Support
-=======
-
-For questions/comments please email the maintainer mentioned in ``package.xml``.
-
-If you have found an error in this package, please file an issue at: `https://github.com/ros-perception/point_cloud_transport/issues <https://github.com/ros-perception/point_cloud_transport/issues>`_
-
-Patches are encouraged, and may be submitted by forking this project and
-submitting a pull request through GitHub. Any help is further development of the project is much appreciated.
-
+.. include:: readme_include.md
+   :parser: myst_parser.sphinx_
 
 .. toctree::
    :maxdepth: 2

point_cloud_transport/doc/readme_include.md

@@ -0,0 +1,3 @@
+```{include} ../../README.md
+:relative-images:
+```