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MRPT · Jul 21, 2020 · bce3360 · bce3360
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diff --git a/doc/HowToReleaseNewVersion.md b/doc/HowToReleaseNewVersion.md
@@ -12,7 +12,7 @@ After the new version seems good to go:
  * Do the final `git commit` to `develop` before the release.
  * Merge to `master`, then create the new tag. This follows the [git-flow pattern](https://nvie.com/posts/a-successful-git-branching-model/):
 
-![Git-flow pattern](design_of_images/git-flow-pattern.png)
+![Git-flow pattern](images/git-flow-pattern.png)
 
 ## 2) Create source packages
 

diff --git a/doc/README.md b/doc/README.md
@@ -13,11 +13,6 @@ Install doxyrest: [instructions](https://github.com/vovkos/doxyrest_b/blob/maste
 # Dependencies for doxyrest_b
 sudo apt install liblua5.2-dev libexpat-dev ragel
 
-echo "set (EXPAT_LIB_DIR /usr/lib/x86_64-linux-gnu)" >> paths.cmake
-echo "set (LUA_LIB_DIR /usr/lib/x86_64-linux-gnu)" >> paths.cmake
-echo "set (OPENSSL_INC_DIR DISABLED)" >> paths.cmake
-echo "set (AXL_CMAKE_DIR $(pwd)/axl/cmake $(pwd)/axl/build/cmake)" >> paths.cmake
-
 ```
 
 # How to generate docs

diff --git a/doc/source/MRPT_Coding_Style.rst b/doc/source/MRPT_Coding_Style.rst
@@ -45,16 +45,16 @@ More specifically:
 
   .. code-block:: vim
 
-    set listchars=eol:¬,tab:>·,trail:~,extends:>,precedes:<
-    set list
+     set listchars=eol:¬,tab:>·,trail:~,extends:>,precedes:<
+     set list
 
 * Change the default editor settings so that you:
 
-  * Use 1 tab for indentation
+   * Use 1 tab for indentation
 
-    * Use an additional tab for *hanging indentation* (e.g. for open parenthesis
+      * Use an additional tab for *hanging indentation* (e.g. for open parenthesis
         cases)
-    * Use spaces for splitting words in the same line, aligning code snippets
+      * Use spaces for splitting words in the same line, aligning code snippets
         etc.
 
 In the following example `>.` designates a tab character. If the latter is not
@@ -83,9 +83,9 @@ Misc
 ======
 
 * **Never**, **ever**, put a `using namespace XXX;` in a header file, since it
-    will pollute without control user namespaces. An exception is its use
-    **inside** the scope of a function implementation in a header, e.g. an
-    inline function or method.
+  will pollute without control user namespaces. An exception is its use
+  **inside** the scope of a function implementation in a header, e.g. an
+  inline function or method.
 
 * Member variables of a `struct` should have **no** suffix or prefix, e.g:
 
@@ -96,8 +96,8 @@ Misc
     };
 
 * Public variable of a `class` should have **no** suffic or prefix.
-    Private/protected members should have the `m_` prefix or, alternatively, the
-    `_` suffix. For *methods*, use **lower camel case** or K&R style, e.g.
+  Private/protected members should have the `m_` prefix or, alternatively, the
+  `_` suffix. For *methods*, use **lower camel case** or K&R style, e.g.
 
     .. code-block:: cpp
 
@@ -111,7 +111,7 @@ Misc
       };
 
 * In general, `typedefs` and `using` will use lowercase with underscores, e.g.
-   `using vector_int = std::vector<int>;`
+  `using vector_int = std::vector<int>;`
 
 * If a packed structure is defined (i.e. `#pragma pack(push,1) ... #pragma pack(pop)`),
   it will be much safer to make all fields protected and offer accessor methods.

diff --git a/doc/source/app_carmen2rawlog.rst b/doc/source/app_carmen2rawlog.rst
@@ -0,0 +1,7 @@
+.. app_carmen2rawlog:
+
+====================================================
+Application: carmen2rawlog
+====================================================
+
+XXX
diff --git a/doc/source/app_icp-slam.rst b/doc/source/app_icp-slam.rst
@@ -0,0 +1,7 @@
+.. app_icp-slam:
+
+====================================================
+Application: icp-slam
+====================================================
+
+XXX
diff --git a/doc/source/applications.rst b/doc/source/applications.rst
@@ -0,0 +1,18 @@
+.. _applications:
+
+##############
+Applications
+##############
+
+MRPT comprises a set of :ref:`modules` to create your own programs, but it
+also provides many ready-to-use applications:
+
+.. toctree::
+  :maxdepth: 2
+
+  app_carmen2rawlog.rst
+  app_icp-slam.rst
+
+
+.. index::
+   single: List of MRPT applications
diff --git a/doc/source/compiling.rst b/doc/source/compiling.rst
@@ -15,10 +15,50 @@ binaries for your system or install via ``apt`` in Ubuntu.
 1. Dependencies
 -----------------
 
-Check out `this page <dependencies.html>`_ to find out what are needed for each
-of the MRPT build dependencies (opencv, wxWidgets,...) to decide if you need
-them for your applications.
+Minimum compiler requisites:
 
+- gcc-7 or newer. Only for Ubuntu 16.04LTS Xenial, you will have to
+  follow `these instructions <https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5>`_ for
+  installing gcc-7 in this version of Ubuntu.
+
+- clang-4 or newer.
+- Windows: Visual Studio 2017 version 15.3 or newer.
+- cmake >= 3.3 required (>=3.4 for Windows).
+- Eigen >= 3.3 required.
+
+Quick ``apt install`` lists
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Minimum** recommended requisites:
+
+.. code-block:: bash
+
+   sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
+        libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev libgtest-dev
+
+**Recommended additional** packages to enable most MRPT features
+(except ROS bridges):
+
+.. code-block:: bash
+
+   sudo apt install libftdi-dev freeglut3-dev zlib1g-dev \
+        libusb-1.0-0-dev libudev-dev libfreenect-dev libdc1394-22-dev \
+        libavformat-dev libswscale-dev libassimp-dev libjpeg-dev \
+        libsuitesparse-dev libpcap-dev liboctomap-dev libglfw3-dev
+
+
+Install additional dependencies for ros1bridge using official Ubuntu
+repositories. If you already have a ROS distribution installed,
+doing ``source /opt/ros/xxx/setup.bash`` is enough, no further packages
+must be installed. Do not install these packages if you do not need
+the `mrpt::ros1bridge <group_mrpt_ros1bridge_grp.html>`_ module.
+
+.. code-block:: bash
+
+   sudo apt install libcv-bridge-dev libgeometry-msgs-dev libnav-msgs-dev \
+        librosbag-storage-dev libroscpp-dev libsensor-msgs-dev \
+		libstd-srvs-dev libstereo-msgs-dev libtf2-dev \
+		libtf2-msgs-dev libbz2-dev
 
 
 2. Build using cmake
@@ -36,6 +76,8 @@ The usual cmake stuff:
   cd build
   cmake ..
   cmake --build .
+  # To run tests:
+  make test_legacy  # or "make test" to see less details
 
 Using cmake-gui
 ~~~~~~~~~~~~~~~~~~~

diff --git a/doc/source/contributing.rst b/doc/source/contributing.rst
@@ -8,6 +8,7 @@ Contributing
   :maxdepth: 2
 
   MRPT_Coding_Style.rst
+  mrpt_git_branches.rst
   ClangFormat.rst
   ClangFormat_internal.rst
   make_a_mrpt_release.rst
@@ -16,9 +17,9 @@ Contributing
 
 Did you find a bug in MRPT?
 -----------------------------
-* **Ensure it is not already** reported by searching: 
-  * The `issues list <https://github.com/MRPT/mrpt/issues>`_, 
-  * The `mailing list <https://groups.google.com/forum/#!forum/mrpt-users>`_ and 
+* **Ensure it is not already** reported by searching:
+  * The `issues list <https://github.com/MRPT/mrpt/issues>`_,
+  * The `mailing list <https://groups.google.com/forum/#!forum/mrpt-users>`_ and
   * `Solved questions at stackoverflow.com <http://stackoverflow.com/search?q=mrpt>`_
 
 Do you want to contribute new code to MRPT?
@@ -28,7 +29,7 @@ Do you want to contribute new code to MRPT?
 * Fork in GitHub.
 * Optionally, create a new branch with a descriptive name and work on it instead of the default `master` branch.
 * Send commits to your fork as needed:
-  * Commit often. 
+  * Commit often.
   * Small commits with a good log description are preferred.
 * **Verify that your code builds**, at least in one the major supported compilers: MSVC, GCC, CLANG.
 * Most changes are relevant enough to be shown in the `CHANGELOG <https://github.com/MRPT/mrpt/blob/master/doc/doxygen-pages/changeLog_doc.h>`_. Modify it as well to reflect what is new.

diff --git a/doc/source/download-mrpt.rst b/doc/source/download-mrpt.rst
@@ -10,28 +10,71 @@ Download MRPT
 Source code
 -------------
 
-xxx
+Get the latest development version with:
+
+.. code-block:: bash
+
+   git clone https://github.com/MRPT/mrpt.git
 
 Next step: :ref:`compiling`
 
 Debian/Ubuntu official repositories
 ---------------------------------------
 
-xxx
+Install the official version for your distribution with:
 
+.. code-block:: bash
 
-Debian/Ubuntu PPA: last stable release
----------------------------------------
+   sudo apt install libmrpt-dev mrpt-apps
 
-xxx
 
+.. note::
+   Versions in official repositories may be quite outdated. It is strongly
+   recommended to use the PPAs (read below) or build from sources instead.
 
-Debian/Ubuntu PPA: nightly builds
----------------------------------------
 
-xxx
+Debian/Ubuntu PPA
+----------------------
+
+Last **stable release** (from the ``master`` branch), for Ubuntu >=18.04:
+
+.. code-block:: bash
+
+   sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable   # master (stable releases) branch
+   sudo apt install libmrpt-dev mrpt-apps
+
+**Nightly builds** (from the ``develop`` branch) for Ubuntu >=18.04:
+
+.. code-block:: bash
 
-Windows installer
+   sudo add-apt-repository ppa:joseluisblancoc/mrpt   # develop branch
+   sudo apt install libmrpt-dev mrpt-apps
+
+Last **stable release**, for Ubuntu 16.04 LTS Xenial (EOL: April 2021):
+
+.. code-block:: bash
+
+   # Install pre-requisites (** ONLY FOR Ubuntu 16.04 Xenial **)
+   sudo add-apt-repository ppa:ubuntu-toolchain-r/test # gcc-7 Backport
+   sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable-xenial
+   sudo apt-get update
+   sudo apt-get install libmrpt-dev mrpt-apps
+
+**Nightly builds**, for Ubuntu 16.04 LTS Xenial (EOL: April 2021):
+
+.. code-block:: bash
+
+   # Install pre-requisites (** ONLY FOR Ubuntu 16.04 Xenial **)
+   sudo add-apt-repository ppa:ubuntu-toolchain-r/test # gcc-7 Backport
+   sudo add-apt-repository ppa:joseluisblancoc/mrpt-unstable-xenial
+   sudo apt-get update
+   sudo apt-get install libmrpt-dev mrpt-apps
+
+
+Windows installers
 --------------------
 
-xxx
+Executables (.exes and .dlls) and development libraries (.hs and .libs) included:
+
+   - `Last stable version <https://bintray.com/mrpt/mrpt-win-binaries/MRPT-nightly-builds/win64-stable>`_
+   - `Nightly builds <https://bintray.com/mrpt/mrpt-win-binaries/MRPT-nightly-builds/win64-develop>`_
diff --git a/doc/source/index.rst b/doc/source/index.rst
@@ -9,6 +9,7 @@ MRPT
   compiling
   download-mrpt
   modules
+  applications
   tutorials
   contributing
   doxygen-index

diff --git a/doc/source/modules.rst b/doc/source/modules.rst
@@ -16,17 +16,20 @@ Each MRPT library source code can be found under ``${MRPT_ROOT}/libs``.
   :maxdepth: 2
 
   group_mrpt_core_grp.rst
-  group_mrpt_base_grp.rst
   group_mrpt_bayes_grp.rst
   group_mrpt_comms_grp.rst
+  group_mrpt_config_grp.rst
+  group_mrpt_containers_grp.rst
   group_mrpt_core_grp.rst
   group_mrpt_detectors_grp.rst
+  group_mrpt_expr_grp.rst
   group_mrpt_graphs_grp.rst
   group_mrpt_graphslam_grp.rst
   group_mrpt_gui_grp.rst
   group_mrpt_hmtslam_grp.rst
   group_mrpt_hwdrivers_grp.rst
   group_mrpt_img_grp.rst
+  group_mrpt_io_grp.rst
   group_mrpt_kinematics_grp.rst
   group_mrpt_maps_grp.rst
   group_mrpt_math_grp.rst

diff --git a/doc/source/mrpt_git_branches.rst b/doc/source/mrpt_git_branches.rst
@@ -0,0 +1,10 @@
+.. _mrptGitBranches:
+
+########################
+MRPT git branches
+########################
+
+MRP follows the `git-flow pattern <https://nvie.com/posts/a-successful-git-branching-model/>`_:
+
+.. image:: images/git-flow-pattern.png
+   :alt: git-flow pattern