Consists of the following parts:
- Doxygen to introspect the C++ code and generate XML output
- Breathe to convert Doxygen's XML output to a Sphinx readable format
- Sphinx to do the actual generation of the documentation
GitHub actions pulls the Docker documentation environment from the RSL Harbor hub (https://registry.leggedrobotics.com/).
# in the ocs2_doc directory, where `Dockerfile` resides.
docker build -t registry.leggedrobotics.com/ocs2/doc .
# you need push access to `https://registry.leggedrobotics.com/`
docker push registry.leggedrobotics.com/ocs2/doc