Update documentation.

docs/src/main/sphinx/conf.py.in

@@ -25,11 +25,15 @@ needs_sphinx = '1.0'
 
 # Add any Sphinx extension module names here, as strings. They can be extensions
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = ['javadoc', 'ros']
+extensions = ['sphinx.ext.intersphinx', 'javadoc', 'ros']
+
+intersphinx_mapping = {
+  'android-core': ('http://docs.rosjava.googlecode.com/hg/android_core/html/', None),
+  }
 
 javadoc_root = 'javadoc'
 
-# Add any paths that contain templates here, relative to this directory.
+# Ad any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
 
 # The suffix of source filenames.

docs/src/main/sphinx/getting_started.rst

@@ -140,8 +140,10 @@ you're a ROS veteran. The :javadoc:`org.ros.topic.Publisher` publishes
 .. literalinclude:: ../../../../rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java
   :language: java
   :linenos:
+  :lines: 17-
+  :emphasize-lines: 27,37
 
-Line 43 will probably feel unfamailiar even to ROS veterans. This is one
+Line 27 will probably feel unfamailiar even to ROS veterans. This is one
 example of rosjava's asynchornous API. The intent of our
 :javadoc:`org.ros.rosjava_tutorial_pubsub.Talker` class is to publish a hello
 world message to anyone who will listen once per second. One way to accomplish
@@ -151,7 +153,7 @@ method. So, we create a :javadoc:`org.ros.concurrent.CancellableLoop` and ask
 the :javadoc:`org.ros.node.Node` to execute it. The loop will be interrupted
 automatically when the :javadoc:`org.ros.node.Node` exits.
 
-On line 53 we create a new ``std_msgs.String`` message to publish using the
+On line 37 we create a new ``std_msgs.String`` message to publish using the
 :javadoc:`org.ros.node.topic.Publisher#newMessage()` method. Messages in
 rosjava cannot be instantiated directly. More on that later.
 
@@ -161,8 +163,10 @@ class.
 .. literalinclude:: ../../../../rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java
   :language: java
   :linenos:
+  :lines: 17-
+  :emphasize-lines: 26
 
-In line 42 we see another example of rosjava's asynchornous API. We can add as
+In line 26 we see another example of rosjava's asynchornous API. We can add as
 many :javadoc:`org.ros.message.MessageListener`\s to our
 :javadoc:`org.ros.node.topic.Subscriber` as we like. When a new message is
 received, all of our :javadoc:`org.ros.message.MessageListener`\s will be
@@ -229,9 +233,11 @@ a ROS veteran.
 .. literalinclude:: ../../../../rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java
   :language: java
   :linenos:
+  :lines: 17-
+  :emphasize-lines: 28
 
 The :javadoc:`org.ros.node.service.ServiceResponseBuilder` is called
-asynchronously for each incoming request. On line 44 we modify the response
+asynchronously for each incoming request. On line 28 we modify the response
 output parameter to contain the sum of the two integers in the request. The
 response will be sent once the
 :javadoc:`org.ros.node.service.ServiceResponseBuilder#build(T, S)` returns.
@@ -242,14 +248,16 @@ class.
 .. literalinclude:: ../../../../rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
   :language: java
   :linenos:
-
-In line 51 we see another example of rosjava's asynchornous API. When the response is
-received, our :javadoc:`org.ros.node.service.ServiceResponseListener` will be
-called with the incoming response as an argument to
-:javadoc:`org.ros.node.service.ServiceResponseListener#onSuccess(T)`.
-
-In the event that the server thows a
-:javadoc:`org.ros.exception.ServiceException` while building the response,
+  :lines: 17-
+  :emphasize-lines: 35-46
+
+On lines 35-46 we see another example of rosjava's asynchornous API. When the
+response is received, our
+:javadoc:`org.ros.node.service.ServiceResponseListener` will be called with the
+incoming response as an argument to
+:javadoc:`org.ros.node.service.ServiceResponseListener#onSuccess(T)`. In the
+event that the server thows a :javadoc:`org.ros.exception.ServiceException`
+while building the response,
 :javadoc:`org.ros.node.service.ServiceResponseListener#onFailure(RemoteException)`
 will be called. The :javadoc:`org.ros.exception.RemoteException` will contain
 the error message from the server.

docs/src/main/sphinx/overview.rst

@@ -7,7 +7,12 @@ development. Consider all APIs and documentation to be volatile.
 `Javadoc <javadoc/index.html>`_ is used extensively and cross referenced from
 this documentation.
 
-Note that package level documentation is in progress.
+Android friendly
+----------------
+
+One of the primary goals of rosjava is to bring ROS to Android. See the
+android_core :ref:`android-core:getting-started` documentation for more
+information.
 
 Asynchronous
 ------------
@@ -16,9 +21,12 @@ Because ROS is heavily dependent on network communication, rosjava is
 asynchronous. No attempt is made to hide asynchronous behavior behind a
 synchronous API. As a result, the rosjava APIs may feel unfamiliar.
 
-First, you will not find a ``spin()`` method. Unlike other client libraries,
-many rosjava nodes can run in a thread pool within a single JVM process. In
-this way, rosjava nodes are similar to C++ nodlets. In the future, rosjava
-nodes will support in memory communication in the same way that C++ nodelets do
-today.
+More threads, fewer processes
+-----------------------------
+
+You will not find a ``spin()`` method in rosjav in rosjava. Unlike other client
+libraries, many rosjava nodes can run in a thread pool within a single JVM
+process. In this way, rosjava nodes are similar to C++ nodlets. In the future,
+rosjava nodes will support in memory communication in the same way that C++
+nodelets do today.