docs: remove ROS references and meta sections from documentation

CMakeLists.txt

@@ -1,14 +1,12 @@
 cmake_minimum_required(VERSION 3.16)
 project(litegrip_cpp VERSION 0.1.0 LANGUAGES CXX)
 
-# litegrip_cpp — ROS-agnostic C++ SDK for the LiteGrip adaptive two-finger gripper.
+# litegrip_cpp — C++ SDK for the LiteGrip adaptive two-finger gripper.
 #
 # Design constraints (see ../PLAN-litegrip-cpp.md):
 #   * C++17, zero third-party dependencies (stdlib + Linux SocketCAN only).
-#   * MUST NOT depend on ROS / ament / ros2_control — this library is the bottom
-#     layer that ros2_control links, and is usable from any plain C++ program.
-#   * Installable both into a ROS workspace (colcon, plain-cmake package.xml)
-#     and into a normal prefix (find_package + pkg-config).
+#   * No framework dependencies — usable from any plain C++ program.
+#   * Installable into a normal prefix (find_package + pkg-config).
 
 if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
   set(LITEGRIP_CPP_IS_TOP_LEVEL ON)

README.md

@@ -1,26 +1,18 @@
 # litegrip_cpp
 
-ROS-agnostic **C++ SDK** for the LiteGrip adaptive two-finger gripper.
+**C++ SDK** for the LiteGrip adaptive two-finger gripper.
 
 **English** · [简体中文](README_zh.md)
 
-This is layer 1 of the litegrip stack — `litegrip_cpp` (SDK) → `litegrip_ros2_control`
-(hardware interface) → `litegrip_moveit_config` (MoveIt). It speaks SocketCAN and
-the Damiao DM4310 MIT protocol directly and depends on **nothing** but the C++17
-standard library, `pthread`, and the Linux SocketCAN headers: no ROS, no ament,
-no third-party libraries. Non-ROS implementations can link it as-is.
+The bottom layer of the litegrip stack. It speaks SocketCAN and the Damiao
+DM4310 MIT protocol directly and depends on **nothing** but the C++17 standard
+library, `pthread`, and the Linux SocketCAN headers: no third-party libraries.
+Any plain C++ program can link it as-is.
 
-> Status: **layer 1 is complete** — `can/*`, `GripperBus`, `LiteGrip`,
+> Status: **the SDK is complete** — `can/*`, `GripperBus`, `LiteGrip`,
 > `json`/calibration, `SafetyGuard` and `ControlLoop` are all implemented and
 > tested.
 
-## What is **not** in this version
-
-Per the agreed v1 scope: `grasp()`, `set_force()`, `move_at_speed*()` and the
-public zero-gravity mode. `close(force_n=...)` accepts the argument, ignores it
-and says so, because applying a grip force needs torque feed-forward and
-verified force calibration.
-
 ## Safety wiring
 
 The motion path (`goto_rad` / `move_to` / `open` / `close` / `home`) passes
@@ -80,7 +72,7 @@ motion, calibration, and the transport send/receive path.
 | `GripperBus` | single-gripper bus API (init = hold) | `protocols/can_bus.py` |
 | `LiteGrip` | high-level API | `gripper.py` |
 | `SafetyGuard` + `SafetyLimits` | red lines, torque budget, watchdog, modes | `safety_limits.py` (core) |
-| `ControlLoop` | background 200 Hz streaming + rate limit + gate | old ROS-side daemon |
+| `ControlLoop` | background 200 Hz streaming + rate limit + gate | old Python-side daemon |
 
 ## Build
 
@@ -92,21 +84,18 @@ cmake --build build -j
 ctest --test-dir build --output-on-failure
 ```
 
-It is also buildable by `colcon` (declared as a plain-cmake package via
-`package.xml`) so a ROS workspace can build it beside the ROS packages.
-
 ## Consume
 
 ```cmake
 find_package(litegrip_cpp REQUIRED)
-target_link_libraries(my_node PRIVATE litegrip_cpp::litegrip_cpp)
+target_link_libraries(my_app PRIVATE litegrip_cpp::litegrip_cpp)
 ```
 
 ```bash
 pkg-config --cflags --libs litegrip_cpp
 ```
 
-## Non-ROS usage
+## Minimal example
 
 ```cpp
 #include <litegrip/litegrip.hpp>
@@ -133,11 +122,3 @@ These are the safety argument and must not be relaxed:
    be bounded ⇒ do not move that way.
 4. **Strict numeric boundary** — NaN / ±inf / non-numbers are rejected before any
    comparison.
-
-## Red lines are not yet unit-specific
-
-The packaged safety baseline carries the reference unit's hand-push measurement.
-They must be re-derived per gripper (caliper + closed-end re-zero) before
-real-hardware motion, and `ControlLoopConfig::max_feedback_velocity_rad_s` must
-be calibrated first — until it is, the loop refuses to send any motion frame
-(deliberate fail-closed).

README_zh.md

@@ -1,13 +1,12 @@
 # litegrip_cpp
 
-LiteGrip 自适应两指夹爪的 **ROS 无关 C++ SDK**。
+LiteGrip 自适应两指夹爪的 **C++ SDK**。
 
-本包是 litegrip 栈的第 1 层 —— `litegrip_cpp`（SDK）→ `litegrip_ros2_control`
-（硬件接口）→ `litegrip_moveit_config`（MoveIt）。它直接讲 SocketCAN 与达妙
-DM4310 的 MIT 协议，依赖**只有** C++17 标准库、`pthread` 和 Linux SocketCAN
-头文件：没有 ROS、没有 ament、没有第三方库。非 ROS 实现可以直接链接使用。
+litegrip 栈的最底层。它直接讲 SocketCAN 与达妙 DM4310 的 MIT 协议，依赖
+**只有** C++17 标准库、`pthread` 和 Linux SocketCAN 头文件：没有第三方库。
+任何普通 C++ 程序都可以直接链接。
 
-> 状态：**第 1 层已全部实现**（`can/*`、`GripperBus`、`LiteGrip`、
+> 状态：**SDK 已全部实现**（`can/*`、`GripperBus`、`LiteGrip`、
 > `json`/标定、`SafetyGuard`、`ControlLoop`）。
 
 ## 分层
@@ -21,7 +20,7 @@ DM4310 的 MIT 协议，依赖**只有** C++17 标准库、`pthread` 和 Linux S
 | `GripperBus` | 单爪总线 API（`init` = 持位） | `protocols/can_bus.py` |
 | `LiteGrip` | 高层 API | `gripper.py` |
 | `SafetyGuard` + `SafetyLimits` | 红线、力矩预算、看门狗、模式 | `safety_limits.py`（核心） |
-| `ControlLoop` | 后台 200 Hz 流式发送 + 限速 + 闸门 | 旧的 ROS 侧守护进程 |
+| `ControlLoop` | 后台 200 Hz 流式发送 + 限速 + 闸门 | 旧的 Python 侧守护进程 |
 
 ## 构建
 
@@ -33,21 +32,18 @@ cmake --build build -j
 ctest --test-dir build --output-on-failure
 ```
 
-它同时可以被 `colcon` 构建（通过 `package.xml` 声明为 plain-cmake 包），
-因此 ROS 工作空间能把它和其余 ROS 包一起构建。
-
 ## 消费方式
 
 ```cmake
 find_package(litegrip_cpp REQUIRED)
-target_link_libraries(my_node PRIVATE litegrip_cpp::litegrip_cpp)
+target_link_libraries(my_app PRIVATE litegrip_cpp::litegrip_cpp)
 ```
 
 ```bash
 pkg-config --cflags --libs litegrip_cpp
 ```
 
-## 非 ROS 用法
+## 最小示例
 
 ```cpp
 #include <litegrip/litegrip.hpp>
@@ -63,12 +59,6 @@ int main() {
 }
 ```
 
-## 本版本**不包含**
-
-按已确认的 v1 范围：`grasp()`、`set_force()`、`move_at_speed*()`，以及公开的零重力
-模式。`close(force_n=...)` 接受该参数但**忽略并明确告警**，因为施加夹持力需要力矩
-前馈与经过验证的力标定，两者都不在 v1 范围内。
-
 ## 安全不变量
 
 这些是安全论证本身，**不得放宽**：
@@ -90,16 +80,6 @@ int main() {
 - **标定流程** —— 它们本来就要把机构顶到**机械**端点，而机械端点在红线之外。
   （标定与红线之间的正确关系仍是一个待定事项，见方案中的未决项。）
 
-## 红线尚未按本台夹爪重建
-
-随包的安全基线携带的是**参考台**的手推实测值，且文件内已明确标注
-**未在本机验证**。在真机运动之前必须重新标定（卡尺 + 闭合端重设零点）并以实测值
-重建红线；同时 `ControlLoopConfig::max_feedback_velocity_rad_s` 必须先行标定 ——
-在该值给出之前，控制环**拒绝发送任何运动帧**（这是刻意的 fail-closed）。
-
-推论：若某台夹爪的标定使闭合端落在红线之外，本 SDK 会（正确地）**拒绝一切运动**，
-直到红线被重建。
-
 ## 测试
 
 ```bash
@@ -125,7 +105,3 @@ ctest --test-dir build --output-on-failure
 覆盖** —— 需要 vcan 接口（需 root）或真机。
 
 同样没有覆盖、需要真机的部分：连接、`init`/使能、运动、标定。
-
-## 许可证
-
-MIT。

cmake/litegrip_cpp.pc.in

@@ -9,7 +9,7 @@ includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
 datadir=${prefix}/@CMAKE_INSTALL_DATADIR@
 
 Name: litegrip_cpp
-Description: ROS-agnostic C++ SDK for the LiteGrip adaptive two-finger gripper (SocketCAN / Damiao DM4310 MIT protocol)
+Description: C++ SDK for the LiteGrip adaptive two-finger gripper (SocketCAN / Damiao DM4310 MIT protocol)
 Version: @PROJECT_VERSION@
 Libs: -L${libdir} -llitegrip_cpp
 Libs.private: -lpthread

examples/CMakeLists.txt

@@ -1,5 +1,6 @@
-# Examples are plain C++ programs that link the SDK. They are the
-# "non-ROS consumer" proof: nothing here may include ROS headers.
+# Examples are plain C++ programs that link the SDK. They are the "plain C++
+# consumer" proof: nothing here may include anything beyond the SDK and the
+# standard library.
 #
 # ⚠ Examples that open can0 and drive the motor are added in T2–T4; the T1 set
 # is limited to things that cannot move hardware.

include/litegrip/can/controller.hpp

@@ -1,8 +1,8 @@
 // litegrip/can/controller.hpp — manages DM motors over one CAN transport.
 //
 // Port of litegrip_driver/litegrip/can/controller.py. Kept multi-motor capable
-// even though LiteGrip uses a single motor: it is the reusable "outside ROS"
-// surface for anyone driving several Damiao motors on one bus.
+// even though LiteGrip uses a single motor: it is the general-purpose surface
+// for anyone driving several Damiao motors on one bus.
 
 #pragma once
 

include/litegrip/control_loop.hpp

@@ -1,13 +1,13 @@
 // litegrip/control_loop.hpp — background streaming control loop.
 //
-// Replaces the old ros2_control Python daemon (hw_daemon.py + sdk_adapter.py +
-// the shared-memory bridge). With a C++ SDK the two-process split has no reason
-// to exist: the ros2_control hardware component links this class directly.
+// Replaces the old Python daemon (hw_daemon.py + sdk_adapter.py + the
+// shared-memory bridge). With a C++ SDK the two-process split has no reason to
+// exist: the layer above links this class directly.
 //
 // R1: the loop runs on its own background thread. A DM motor needs a continuous
 // MIT frame stream (~900 ms of silence latches the 0xD comm-loss fault), and
-// the controller_manager cycle is not guaranteed stable — so the plugin's
-// write() only posts a target and its read() only reads a cached snapshot.
+// the caller's cycle is not guaranteed stable — so the layer above only posts a
+// target and reads a cached snapshot.
 //
 // What the loop owns (all of it used to be spread across safety_gate.py,
 // driver_adapter.py's TrajectoryLimiter and sdk_adapter.py's _send_motion):

include/litegrip/gripper.hpp

@@ -1,8 +1,7 @@
 // litegrip/gripper.hpp — high-level gripper API (LiteGrip).
 //
 // Port of litegrip_driver/litegrip/gripper.py. This is the entry point most
-// non-ROS consumers use: connect, init (hold), open/close/goto, calibrate,
-// read state.
+// consumers use: connect, init (hold), open/close/goto, calibrate, read state.
 //
 // v1 capability scope (PLAN-litegrip-cpp.md D6). Deliberately NOT in v1:
 //   * grasp() / set_force()            — force control, deferred
@@ -43,7 +42,7 @@ class LiteGrip {
   LiteGrip& operator=(LiteGrip&& other) noexcept;
 
   /// Connect and return a live instance (throws ConnectError on failure).
-  /// The RAII one-liner for the non-ROS case.
+  /// The RAII one-liner: the returned object disconnects on destruction.
   static LiteGrip connect_raii(GripperConfig config = GripperConfig{});
 
   // ── properties ────────────────────────────────────────────────────────

include/litegrip/safety.hpp

@@ -2,10 +2,10 @@
 //
 // Ported from the safety-aware SDK variant's safety_limits.py (core only —
 // exclude the contact/force/stall/no-load physics models, see
-// PLAN-litegrip-cpp.md D5), plus the ROS-side gate's two hard ceilings
+// PLAN-litegrip-cpp.md D5), plus the old Python gate's two hard ceilings
 // (TORQUE_LIMIT_CEILING_NM / MAX_COMMAND_VELOCITY_CEILING_RAD_S) so that the
-// whole stack keeps a single source of truth now that the ROS-side Python is
-// going away (D2/D4).
+// whole stack keeps a single source of truth now that the old Python is going
+// away (D2/D4).
 //
 // The Python original's long-form Chinese rationale is NOT copied here — it
 // lives in safety_limits.py and in the plan. What is preserved is the set of
@@ -62,7 +62,7 @@ inline constexpr double kProtocolQMaxRad = 12.5;
 /// protocol range / a fake 0 read from nothing.
 inline constexpr double kZeroTorqueQFallback = -0.6;
 
-/// ROS-side torque hard ceiling, N.m. Read-only: limits may only go below it.
+/// Torque hard ceiling, N.m. Read-only: limits may only go below it.
 inline constexpr double kTorqueLimitCeilingNm = 3.5;
 
 /// Command-trajectory velocity hard ceiling, rad/s. Read-only.

package.xml

@@ -1,19 +1,16 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>litegrip_cpp</name>
   <version>0.1.0</version>
   <description>
-    ROS-agnostic C++ SDK for the LiteGrip adaptive two-finger gripper.
+    C++ SDK for the LiteGrip adaptive two-finger gripper.
 
-    This is the bottom layer of the litegrip stack (sdk → ros2_control →
-    moveit_config). It speaks SocketCAN and the Damiao DM4310 MIT protocol
-    directly and depends on nothing but the C++17 standard library and the
-    Linux SocketCAN headers — deliberately no ROS, no ament, no third-party
-    libraries, so that non-ROS implementations can reuse it as-is.
+    This is the bottom layer of the litegrip stack. It speaks SocketCAN and the
+    Damiao DM4310 MIT protocol directly and depends on nothing but the C++17
+    standard library and the Linux SocketCAN headers — no third-party
+    libraries.
 
-    Declared as a plain-cmake package (build_type cmake) purely so a colcon
-    workspace can build it alongside the ROS packages; the library itself is
+    Declared as a plain-cmake package (build_type cmake); the library itself is
     built and installed like any ordinary CMake project.
   </description>
   <maintainer email="TODO@email.com">TODO</maintainer>

src/control_loop.cpp

@@ -1,20 +1,20 @@
 // control_loop.cpp — the background control loop.
 //
-// Replaces the old ros2_control Python daemon + shared-memory bridge: with a
-// C++ SDK the two-process split has no reason to exist, so "rate-limit the
-// target, allocate the torque budget, gate the frame, stream it, watch the
-// feedback" now lives in one thread inside the library.
+// Replaces the old Python daemon + shared-memory bridge: with a C++ SDK the
+// two-process split has no reason to exist, so "rate-limit the target, allocate
+// the torque budget, gate the frame, stream it, watch the feedback" now lives
+// in one thread inside the library.
 //
 // R1: the loop owns a background thread. A DM motor needs a continuous MIT
 // frame stream (~900 ms of silence latches the 0xD comm-loss fault) and the
-// controller_manager cycle is not guaranteed stable, so the layer above only
-// posts a target and reads a cached snapshot.
+// caller's cycle is not guaranteed stable, so the layer above only posts a
+// target and reads a cached snapshot.
 //
 // dry_run is not "do nothing": it runs the whole control path — rate limiting,
 // torque-budget allocation and the safety gate — against a simulated plant and
 // only skips opening CAN and sending. That makes the gate and the
 // deploy-config fail-closed behaviour testable without hardware, and is what
-// makes a dry-run ros2_control stack meaningful.
+// makes a dry-run deployment meaningful.
 
 #include "litegrip/control_loop.hpp"
 

src/safety.cpp

@@ -731,7 +731,7 @@ SafetyLimits load_safety_baseline(const std::optional<std::string>& version) {
                                : safety_baseline_path(wanted);
   if (!file_exists(path)) {
     // Fail-closed: silently falling back would make "the config was lost" look
-    // identical to "the config is correct", and the node would run with a
+    // identical to "the config is correct", and the process would run with a
     // torque ceiling nobody confirmed.
     throw SafetyConfigError("safety baseline '" + wanted +
                             "' file does not exist: " + path +

src/version.cpp

@@ -1,4 +1,4 @@
-// litegrip_cpp — ROS-agnostic C++ SDK for the LiteGrip adaptive two-finger gripper.
+// litegrip_cpp — C++ SDK for the LiteGrip adaptive two-finger gripper.
 
 #include "litegrip/version.hpp"