Downloads¶
Both documents are built from their LaTeX sources in docs/ with every change to main that
publishes this site, so they always match the documentation here.
Technical manual
Architecture, every subsystem with its models and parameters, the interfaces, the safety case, the development guide and the traceability of every fixed defect.
Paper
Dharma: A Robot-Agnostic, Safety-Layered ROS 2 Autonomy Stack for Service Robots in Crowded Public Spaces: the methods and their evaluation, in the IEEE conference format.
Build them yourself¶
# docs/build/paper/dharma.pdf and docs/build/manual/dharma_manual.pdf
make -C docs paper manual DRAWIO=nodrawio
The build needs LaTeX with latexmk and IEEEtran (Ubuntu: texlive-latex-extra,
texlive-fonts-recommended, texlive-publishers, latexmk). The diagrams are committed as PDF
exports, so draw.io is only needed to change them.