Merge branch 'master' into add_iron

ros-controls · Aug 20, 2023 · 9a4679d · 9a4679d
2 parents a7e6fe4 + 43c9e9e
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diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 This repository provides examples for functionalities and capabilities of `ros2_control` framework.
-It consists of simple implementations that demonstrate different concepts.
+It consists of simple implementations that demonstrate different concepts. Choose the right branch of this repository matching you ROS 2 distribution as well as the full documentation on [control.ros.org](https://control.ros.org), see [this table](#build-status).
 
 If you want to have rather step by step manual how to do things with `ros2_control` checkout the [ros-control/roscon2022_workshop](https://github.com/ros-controls/roscon2022_workshop) repository.
 

diff --git a/doc/index.rst b/doc/index.rst
@@ -76,12 +76,15 @@ Example 12: "Controller chaining"
 Installation
 =====================
 
-You can install the demos manually or use the provided docker file.
+You can install the demos locally or use the provided docker file.
 
-Manual Install
----------------
 
-First, you have to install `ROS 2 on your computer <https://docs.ros.org/en/rolling/Installation.html>`__.
+Local installation
+------------------
+
+If you have ROS 2 installed already, choose the right version of this documentation and branch of the ``ros2_control_demos`` repository matching you ROS 2 distribution, see `this table <https://github.com/ros-controls/ros2_control_demos#build-status>`__.
+
+Otherwise, install `ROS 2 {DISTRO} on your computer <https://docs.ros.org/en/rolling/Installation.html>`__.
 
 .. note::
 
@@ -98,7 +101,7 @@ Download the ``ros2_control_demos`` repository and install its dependencies with
 
   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
-  git clone https://github.com/ros-controls/ros2_control_demos
+  git clone https://github.com/ros-controls/ros2_control_demos -b {REPOS_FILE_BRANCH}
   cd ~/ros2_ws/
   rosdep update --rosdistro=$ROS_DISTRO
   sudo apt-get update

diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -49,7 +49,7 @@ install(
   DESTINATION include/ros2_control_demo_example_1
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/rviz
+  DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_1
 )
 install(

diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -61,7 +61,7 @@ def generate_launch_description():
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_example_1"), "rviz", "rrbot.rviz"]
+        [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
     )
 
     control_node = Node(

diff --git a/example_1/description/launch/view_robot.launch.py b/example_1/description/launch/view_robot.launch.py
@@ -27,7 +27,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ros2_control_demo_example_1",
+            default_value="ros2_control_demo_description",
             description="Description package with robot URDF/xacro files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -69,7 +69,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare(description_package), "urdf", description_file]
+                [FindPackageShare("ros2_control_demo_example_1"), "urdf", description_file]
             ),
             " ",
             "prefix:=",
@@ -79,7 +79,7 @@ def generate_launch_description():
     robot_description = {"robot_description": robot_description_content}
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "rviz", "rrbot.rviz"]
+        [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"]
     )
 
     joint_state_publisher_node = Node(

diff --git a/example_1/description/urdf/rrbot.urdf.xacro b/example_1/description/urdf/rrbot.urdf.xacro
@@ -8,10 +8,10 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
   <xacro:arg name="prefix" default="" />
 
   <!-- Import RRBot macro -->
-  <xacro:include filename="$(find ros2_control_demo_example_1)/urdf/rrbot_description.urdf.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
 
   <!-- Import Rviz colors -->
-  <xacro:include filename="$(find ros2_control_demo_example_1)/urdf/rrbot.materials.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot.materials.xacro" />
 
   <!-- Import RRBot ros2_control description -->
   <xacro:include filename="$(find ros2_control_demo_example_1)/ros2_control/rrbot.ros2_control.xacro" />

diff --git a/example_1/description/urdf/rrbot_description.urdf.xacro b/example_1/description/urdf/rrbot_description.urdf.xacro
diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst
@@ -221,10 +221,10 @@ Files used for this demos
 * Controllers yaml: `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_controllers.yaml>`__
 * URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
 
-  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot_description.urdf.xacro>`__
+  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
   * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
 
-* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/rviz/rrbot.rviz>`__
+* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
 * Test nodes goals configuration:
 
   + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_forward_position_publisher.yaml>`__

diff --git a/example_1/package.xml b/example_1/package.xml
@@ -26,6 +26,7 @@
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_control_demo_description</exec_depend>
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>ros2launch</exec_depend>

diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt
@@ -76,7 +76,7 @@ install(
   DESTINATION include/ros2_control_demo_example_12
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/gazebo description/rviz
+  DIRECTORY description/launch description/ros2_control description/urdf description/gazebo
   DESTINATION share/ros2_control_demo_example_12
 )
 install(

diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_example_12"), "rviz", "rrbot.rviz"]
+        [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"]
     )
 
     control_node = Node(

diff --git a/example_12/description/launch/view_robot.launch.py b/example_12/description/launch/view_robot.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ros2_control_demo_example_12",
+            default_value="ros2_control_demo_description",
             description="Description package with robot URDF/xacro files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -59,7 +59,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare(description_package), "urdf", description_file]
+                [FindPackageShare("ros2_control_demo_example_12"), "urdf", description_file]
             ),
             " ",
             "prefix:=",
@@ -69,7 +69,7 @@ def generate_launch_description():
     robot_description = {"robot_description": robot_description_content}
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "rviz", "rrbot.rviz"]
+        [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"]
     )
 
     joint_state_publisher_node = Node(