docs: delegate mola_lo docs to its own repo

docs/source/ros2api.rst

@@ -32,86 +32,7 @@ ____________________________________________
 1.1. ROS 2 node for Lidar Odometry (LO)
 ============================================
 
-.. note::
-
-   It is recommended to start with the tutorial on how to :ref:`build a map <building-maps>`.
-
-This launch file (`view sources <https://github.com/MOLAorg/mola_lidar_odometry/blob/develop/ros2-launchs/ros2-lidar-odometry.launch.py>`_)
-runs **MOLA-LO** live on point clouds received from a ROS 2 topic, **demonstrating a few features**:
-
-* Launching and visualizing LO in both, ``mola_viz`` and ``RViz2`` (or use FoxGlove if preferred).
-* How MOLA ``mola_lidar_odometry`` publishes the local map,
-  the estimated trajectory, and `/tf` for the estimated odometry.
-
-.. image:: https://mrpt.github.io/imgs/mola-lo-ros2-launch-demo-live-forest.png
-
-.. tab-set::
-
-   .. tab-item:: Basic usage
-      :selected:
-
-      .. code-block:: bash
-
-         # Minimal use case (requires correct LiDAR sensor /tf):
-         ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py \
-         lidar_topic_name:=/ouster/points
-
-         # Usage without sensor /tf:
-         ros2 launch mola_lidar_odometry ros2-lidar-odometry.launch.py \
-         lidar_topic_name:=/ouster/points \
-         ignore_lidar_pose_from_tf:=True
-
-   .. tab-item:: All launch arguments
-
-      .. code-block:: bash
-
-         # Write me!
-
-
-
-.. _mola_lo_ros_mola-cli-env-vars:
-
-.. dropdown:: Configure sensor inputs for ROS 2 node and rosbag2 input
-    :icon: list-unordered
-
-    The following environment variables can be set to change the behavior of how ``BridgeROS2``
-    handles input ROS 2 messages on sensor inputs.
-    Please, refer to the actual mola-cli launch files where these variables are defined:
-
-    - `mola-cli-launchs/lidar_odometry_from_rosbag2.yaml <https://github.com/MOLAorg/mola_lidar_odometry/blob/develop/mola-cli-launchs/lidar_odometry_from_rosbag2.yaml>`_
-    - `mola-cli-launchs/lidar_odometry_ros2.yaml <https://github.com/MOLAorg/mola_lidar_odometry/blob/develop/mola-cli-launchs/lidar_odometry_ros2.yaml>`_
-
-    Environment variables:
-
-    - ``MOLA_TF_BASE_FOOTPRINT`` (Default: ``"base_link"``): The robot reference frame id in ``/tf``. Used to get sensor poses with respect to the vehicle.
-
-    - ``MOLA_LIDAR_TOPIC`` (Default: ``'/ouster/points'``): The ``sensor_msgs/PointCloud2`` topic with raw LiDAR data (mandatory).
-
-    - ``MOLA_USE_FIXED_LIDAR_POSE`` (Default: ``false``): If false, sensor pose will be retrieved from ``/tf``. You can also set it to true and then the sensor pose will be given by these env. variables:
-
-        - ``LIDAR_POSE_X``, ``LIDAR_POSE_Y``, ``LIDAR_POSE_Z`` (in meters).
-        - ``LIDAR_POSE_YAW``, ``LIDAR_POSE_PITCH``, ``LIDAR_POSE_ROLL`` (in degrees).
-
-    - ``MOLA_GNSS_TOPIC`` (Default: ``'/gps'``): The ``sensor_msgs/NavSatFix`` topic with GNSS data (optional).
-
-    - ``MOLA_USE_FIXED_GNSS_POSE`` (Default: ``true``): If false, sensor pose will be retrieved from ``/tf``. You can also set it to true and then the sensor pose will be given by these env. variables:
-
-        - ``GNSS_POSE_X``, ``GNSS_POSE_Y``, ``GNSS_POSE_Z`` (in meters).
-        - ``GNSS_POSE_YAW``, ``GNSS_POSE_PITCH``, ``GNSS_POSE_ROLL`` (in degrees).
-
-    - ``MOLA_IMU_TOPIC`` (Default: ``'/imu'``): The ``sensor_msgs/Imu`` topic with IMU data (optional).
-
-    - ``MOLA_USE_FIXED_IMU_POSE`` (Default: ``true``): If false, sensor pose will be retrieved from ``/tf``. You can also set it to true and then the sensor pose will be given by these env. variables:
-
-        - ``IMU_POSE_X``, ``IMU_POSE_Y``, ``IMU_POSE_Z`` (in meters).
-        - ``IMU_POSE_YAW``, ``IMU_POSE_PITCH``, ``IMU_POSE_ROLL`` (in degrees).
-
-
-.. dropdown:: More LO parameters
-    :icon: list-unordered
-
-    The ``lidar3d-default.yaml`` pipeline file defines plenty of :ref:`additional parameters and options <mola_3d_default_pipeline>` that you can explore.
-    See also the docs for the :ref:`ROS 2 API <mola_ros2api>` and :ref:`this tutorial <tutorial-mola-lo-map-and-localize>` on how to save and load a map using ROS 2 MOLA-LO nodes.
+.. include:: ../../../mola_lidar_odometry/docs/mola_lo_ros_node.rst
 
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