Skip to content

Conversation

@FT-FumihikoUnno
Copy link
Collaborator

@yosukemaeda, @AvinashFuture, @PankajTanwar7
claude との対話履歴 / Conversation history with Claude: #5, #6, #7

Claudeを利用して、英語と日本語のドキュメントを作成しました。
プロジェクトの理解には繋がると思います。
AGENTS.md も Claude に書いてもらっています。

I used Claude to create documents in English and Japanese.
I think it helps with understanding the project.
Claude also wrote AGENTS.md.

手動生成結果との比較をお願いします。
Please compare it with the manually generated results.

FT-FumihikoUnno and others added 14 commits November 25, 2025 16:30
Add documentation guidelines including:
- Setup commands section
- Code style section
- Document style guidelines
- Folder structure

Co-authored-by: FT-FumihikoUnno <[email protected]>
- Added detailed GitHub Flow workflow with Mermaid diagram
- Documented complete repository structure and package organization
- Established bilingual documentation standards (English/Japanese)
- Defined C++ and Python code style guidelines for ROS2
- Included comprehensive setup commands and prerequisites
- Added Mermaid diagram examples for documentation
- Clarified documentation file organization (doc/detail/ and doc/feature/)

Co-authored-by: FT-FumihikoUnno <[email protected]>
- Fixed AGENTS-ja.md with proper UTF-8 encoding
- Added "Character Encoding" section to both AGENTS.md and AGENTS-ja.md
- Specified UTF-8 (without BOM) as the standard encoding for all files

Co-authored-by: FT-FumihikoUnno <[email protected]>
…-20251125-0942

docs: add initial content to AGENTS.md
Created detailed documentation for all 9 ROS2 packages:

Feature Documentation (English):
- aruco_detect: ArUco marker detection and pose estimation
- camera_publisher: Camera image publishing and calibration
- ego_pcl_filter: Egocentric point cloud filtering
- laserscan_to_pcl: 2D laser to 3D point cloud conversion
- mecanum_wheels: Mecanum wheel drive control with PID
- nav_control: Velocity transformation for different drive modes
- nav_docking: Autonomous docking behavior with ArUco
- nav_goal: Goal approach behavior with ArUco
- pcl_merge: Multi-sensor point cloud fusion

Detailed Implementation Docs (English):
- aruco_detect/src/aruco_detect.cpp: Core detection algorithm
- pcl_merge/src/pcl_merge.cpp: Fusion and downsampling pipeline
- mecanum_wheels/phidgets_control.py: PID control implementation

Japanese Translations (representative samples):
- aruco_detect-ja.md
- pcl_merge-ja.md
- mecanum_wheels-ja.md

Documentation includes:
- Architecture diagrams (Mermaid)
- ROS2 interface specifications
- Parameter descriptions
- Usage examples
- Troubleshooting guides
- Performance considerations

Follows AGENTS.md guidelines:
- First line states documentation target
- Feature docs in doc/feature/
- Detailed docs mirror src/ structure in doc/detail/
- Mermaid diagrams for visualizations
- UTF-8 encoding
- Bilingual (English + Japanese samples)

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: FT-FumihikoUnno <[email protected]>
Added complete Japanese translations for remaining feature documentation:
- camera_publisher-ja.md
- ego_pcl_filter-ja.md
- laserscan_to_pcl-ja.md
- nav_control-ja.md
- nav_docking-ja.md
- nav_goal-ja.md

Technical clarifications addressed:
- ArUco Detection: Clarified that dictionary is hardcoded as DICT_6X6_250
  (not configurable via parameters, requires code modification)
- Mecanum Wheels: Explained control frequency mismatch between 30 Hz timer
  and 10 Hz motor data rate (oversampling design for smoother control)
- PCL Merge: Added voxel size trade-off details with typical reduction
  rates and performance characteristics

All documentation now follows CLAUDE.md bilingual requirements and
addresses observations from PR review.

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-authored-by: FT-FumihikoUnno <[email protected]>
Added comprehensive detailed documentation for 6 main source files:
- camera_publisher/src/publisher_from_video.cpp: Video capture and publishing
- ego_pcl_filter/src/ego_pcl_filter.cpp: Dual CropBox filtering
- laserscan_to_pcl/src/laserscan_to_pcl.cpp: 2D to 3D conversion
- nav_control/src/nav_control.cpp: Velocity transformation for drive modes
- nav_docking/src/nav_docking.cpp: PID-based autonomous docking
- nav_goal/src/nav_goal.cpp: ArUco-based goal approach

Added placeholder documentation for 8 utility files:
- Launch scripts (aruco_detect, nav_control, nav_docking, nav_goal)
- Config/setup files (CamCalibration.py, setup.py, __init__.py)
- Utility script (marker_gen.py)

Documentation includes:
- Detailed implementation explanations with line references
- Mermaid diagrams for algorithms and data flow
- Parameter descriptions and usage examples
- Performance considerations and troubleshooting
- Known limitations and potential enhancements
- UTF-8 encoding throughout

Follows CLAUDE.md guidelines for doc/detail/ structure

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: FT-FumihikoUnno <[email protected]>
Updated language requirements section to explicitly document:
- Feature documentation: Required in both English and Japanese
- Detailed technical documentation: English required, Japanese optional
- Project-level documentation: Required in both languages

Added rationale explaining that detailed docs are primarily for developers
who typically read English technical documentation, and the significant
volume makes translation effort substantial with limited additional value.

Addresses Minor Observation #1 from PR review.

Co-authored-by: FT-FumihikoUnno <[email protected]>
Updated AGENTS-ja.md to match the English version's clarified language
requirements:
- Feature documentation: Required in both English and Japanese
- Detailed technical documentation: English required, Japanese optional
- Project-level documentation: Required in both languages

Maintains consistency with AGENTS.md changes.

Co-authored-by: FT-FumihikoUnno <[email protected]>
Added Japanese (-ja.md) versions for all 17 detailed technical
documentation files to achieve complete bilingual coverage.

Major implementation docs translated:
- aruco_detect/src/aruco_detect-ja.md (257 lines)
- camera_publisher/src/publisher_from_video-ja.md (276 lines)
- ego_pcl_filter/src/ego_pcl_filter-ja.md (325 lines)
- laserscan_to_pcl/src/laserscan_to_pcl-ja.md (337 lines)
- mecanum_wheels/mecanum_wheels/phidgets_control-ja.md (300 lines)
- nav_control/src/nav_control-ja.md (376 lines)
- nav_docking/src/nav_docking-ja.md (474 lines)
- nav_goal/src/nav_goal-ja.md (493 lines)
- pcl_merge/src/pcl_merge-ja.md (276 lines)

Placeholder files translated (launch, config, setup):
- aruco_detect/launch/aruco_detect.launch-ja.md
- aruco_detect/scripts/marker_gen-ja.md
- camera_publisher/config/CamCalibration-ja.md
- nav_control/launch/nav_control.launch-ja.md
- nav_docking/launch/nav_docking.launch-ja.md
- nav_goal/launch/nav_goal.launch-ja.md
- mecanum_wheels/setup-ja.md
- mecanum_wheels/mecanum_wheels/__init__-ja.md

Updated AGENTS.md and AGENTS-ja.md:
- Changed detailed documentation language requirement
- Japanese translations now mandatory (not optional)
- Ensures consistency with feature documentation policy

Translation guidelines followed:
- UTF-8 encoding throughout
- Consistent technical terminology
- Code blocks and diagrams preserved
- First line states target file in both languages
- Matches existing Japanese documentation style

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-authored-by: FT-FumihikoUnno <[email protected]>
docs: add comprehensive documentation for Multi-Go navigation packages
@FT-FumihikoUnno FT-FumihikoUnno self-assigned this Nov 26, 2025
@FT-FumihikoUnno FT-FumihikoUnno changed the base branch from feature/localization to issue-1-documentation-by-claude November 26, 2025 05:39
@FT-FumihikoUnno FT-FumihikoUnno marked this pull request as draft November 26, 2025 05:41
@FT-FumihikoUnno
Copy link
Collaborator Author

レビューでエラーが発生しているようなので、一旦 draft にします。

@yosukemaeda yosukemaeda marked this pull request as ready for review November 26, 2025 05:47
@yosukemaeda
Copy link

@FT-FumihikoUnno
ごめんDraft状態変更しちゃってInReviewにしちゃたかも・・・
ドキュメントの内容に関してはこの粒度で問題ないのでは?と思っています。
ここまで出来れば、すくなくともプロジェクトの概要はつかめるはず。
ちなみに、もともとドキュメントがない(と思っている・・・)プロジェクトなので、自動生成されたドキュメントを見て理解できるかどうか、をチェックしました。

@FT-FumihikoUnno
Copy link
Collaborator Author

@yosukemaeda さん
レビューありがとうございます。
事前に、AGENTS.md 等を構成していれば、
・コード変更→PRでClaudeによってドキュメント更新
・ドキュメント変更→PRでClaudeによってコード変更
という流れも可能だと思います。

あと、GitHub Actions Claudeのレビューエラーの原因がイマイチ良く分からないので、解析を続けます。
やはり何か連携の呼出しで失敗しているんじゃないかと。↓の "is_error": true の部分。

{
  "type": "system",
  "subtype": "init",
  "message": "Claude Code initialized",
  "model": "claude-sonnet-4-5-20250929"
}
{
  "type": "result",
  "subtype": "success",
  "is_error": true,
  "duration_ms": 539,
  "num_turns": 1,
  "total_cost_usd": 0,
  "permission_denials": []
}

何度 Re-Run してもダメなので、時間をおいて試してみてを何度かやりつつ、Claude 等に訊いてみようと思います。

@AvinashFuture
Copy link

@FT-FumihikoUnno San

Please check my review comments. I have asked the ai to generate difference in both the way of doing and the overall finding is below.

I've successfully created Both_way_comparison.md - a comprehensive bi-directional comparison document.

Please find the attached document created below to see the details:
https://github.com/Futu-reADS/multigo_navigation_ai_integrated/blob/main/docs/Both_way_comparison_jp.md

Summary of document:

Document Contents

Part 1: What multigo_navigation_claude HAS (28 files analyzed)

  • Complete inventory of all 28 English markdown files
  • Project-level docs (AGENTS.md, README.md)
  • 9 feature-level docs with content summaries
  • 17 detailed technical docs with implementation details
  • Documentation strengths: implementation excellence, Mermaid diagrams, mathematical rigor, bilingual support

Part 2: What requirements-complete.md HAS (77 requirements)

  • All 10 requirement categories detailed
  • 77 requirements with status tracking (✅/🟡/🐛/❌/❓)
  • 3 CRITICAL BUGS documented with code fixes
  • System status summary (61% complete)
  • 4-phase roadmap (256 hours)
  • Performance metrics and targets

Part 3: Gap Analysis - Direction 1 (Claude → AI Integrated)
What requirements-complete.md has that Claude docs DON'T:

  • System-level requirements (0% coverage)
  • Multi-repository integration (0% coverage)
  • Cross-cutting concerns (Safety: 0%, Quality: 0%)
  • Bug documentation (0% coverage)
  • Status tracking (0% coverage)
  • Performance metrics (0% coverage)
  • Roadmap and risk assessment (0% coverage)

Part 4: Gap Analysis - Direction 2 (AI Integrated → Claude)
What Claude docs have that requirements-complete.md DOESN'T:

  • 17 detailed implementation docs
  • Mermaid diagrams and visualizations
  • Mathematical formulas and equations
  • Configuration examples and YAML snippets
  • Per-package troubleshooting guides
  • Bilingual support (unique)
  • Usage examples and tuning guidance

Part 5: Synthesis & Recommendations

  • Answer to your question: NO, Claude docs do NOT cover all aspects
  • Three recommended approaches with effort estimates:
    • Option 1: Add requirements layer (40-60 hours)
    • Option 2: Port requirements-complete.md (4-8 hours)
    • Option 3: Hybrid approach (20-30 hours) ← RECOMMENDED
  • 4-phase implementation plan (80 hours total over 2-3 months)
  • Critical gaps requiring immediate attention
  • Success metrics for documentation

Conclusion

The two documentation sets are complementary but serve different purposes:

  • Claude docs is excellent at: Implementation details, code-level explanations, visualizations.
  • requirements-complete.md excels at: System requirements, bug tracking, status visibility, roadmap

The ideal solution is to COMBINE both - keep the excellent implementation docs and add the missing requirements layer.

@FT-FumihikoUnno
Copy link
Collaborator Author

@AvinashFuture
AIによるレビューではなく、人によるレビューが欲しいです。
また、今回は、ベースラインが異なるので、比較には適さないと考えています。

比較するのであれば、指標算出方法を示した上で、数値比較するしかないと思います。
指標としては、網羅度、用語ブレ有無、簡潔さ、などです。
今回は、指標算出方法の定義もないので、比較は無理だと考えています。

なので、人の感覚的に、この程度できるならいいんじゃないのかな?っていうところに落ち着くのではないかと思います。

Copy link

@AvinashFuture AvinashFuture left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@FT-FumihikoUnno San

Below is my review comment for the documents you have created.

Your way of doing is excellent in extracting Implementation details, code-level explanations, visualizations.
That is all from my side.

Rest we will follow @yosukemaeda San instructions going further with this project as he explained in morning.

@FT-FumihikoUnno FT-FumihikoUnno merged commit 8302300 into issue-1-documentation-by-claude Nov 27, 2025
8 of 15 checks passed
@FT-FumihikoUnno
Copy link
Collaborator Author

以降は、Issue #1 を参照してください。

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet

Projects

None yet

Development

Successfully merging this pull request may close these issues.

4 participants