Merge pull request StoglRobotics#8 from StoglRobotics/repair-ci

install sphinx_rtd_theme before build
Robotgir · Feb 12, 2021 · 1e2399b · 1e2399b
2 parents 19ce81b + 41e3107
commit 1e2399b
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diff --git a/.github/workflows/ci-build.yml b/.github/workflows/ci-build.yml
@@ -4,9 +4,9 @@ on:
   push:
     branches:
       - rolling
-  #schedule:
-    ## Run every morning to detect flakiness and broken dependencies
-    #- cron: '28 6 * * *'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
 
 jobs:
   ci_binary:
@@ -20,7 +20,6 @@ jobs:
     env:
       UPSTREAM_WORKSPACE: ros_team_workspace.repos
     steps:
-      - run: sudo apt-get update -qq && sudo apt-get upgrade
       - uses: actions/checkout@v1
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

diff --git a/.github/workflows/docs-sphinx-build-check.yml b/.github/workflows/docs-sphinx-build-check.yml
@@ -16,3 +16,4 @@ jobs:
     - uses: ammaraskar/sphinx-action@master
       with:
         docs-folder: 'docs/'
+        pre-build-command: "apt-get update -y && apt-get install -y python3-pip && pip3 install sphinx_rtd_theme"
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,68 @@
+# Contributing Guidelines
+Thank you for your interest in contributing to `ros_team_workspace`.
+Whether it's a bug report, new feature, correction, or additional
+documentation, we greatly value feedback and contributions from our community.
+
+Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
+information to effectively respond to your bug report or contribution.
+
+
+## Reporting Bugs/Feature Requests
+We welcome you to use the GitHub issue tracker to report bugs or suggest features.
+
+When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure 
+ somebody else hasn't already reported the issue.
+Please try to include as much information as you can. Details like these are incredibly useful:
+
+* A reproducible test case or series of steps
+* The version of our code being used
+* Any modifications you've made relevant to the bug
+* Anything unusual about your environment or deployment
+
+
+## Contributing via Pull Requests
+Contributions via pull requests are much appreciated.
+Before sending us a pull request, please ensure that:
+
+1. You are working against the latest source on the *master* branch.
+2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
+3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+To send us a pull request, please:
+
+1. Fork the repository.
+2. Modify the source; please focus on the specific change you are contributing.
+  If you also reformat all the code, it will be hard for us to focus on your change.
+3. Ensure local tests pass.
+4. Commit to your fork using clear commit messages.
+5. Send a pull request, answering any default questions in the pull request interface.
+6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+
+GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
+[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
+
+
+## Finding contributions to work on
+Looking at the existing issues is a great way to find something to contribute on.
+As this project, by default, uses the default GitHub issue labels
+  (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues 
+  is a great place to start.
+
+
+## Licensing
+Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license]:
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+[issues]: https://github.com/StoglRobotics/ros_team_workspace/issues
+[closed-issues]: https://github.com/StoglRobotics/ros_team_workspace/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20
+[help-wanted]: https://github.com/StoglRobotics/ros_team_workspace/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22
+[license]: http://www.apache.org/licenses/LICENSE-2.0.html
diff --git a/docs/guidelines/package_structure.rst b/docs/guidelines/package_structure.rst
@@ -17,34 +17,46 @@ Here proposed architecture try to split the robot's files to minimize per-packag
   ├── <manufacturer>[_<robot_name>[_<type>]|_manipulators]/       # Meta-package of the robot
   │   ├── CMakeLists.txt
   │   └── package.xml
-  ├── <robot_name>_bringup/                     # Launch and config files of the robot
-  │   ├── [CMakeLists.txt]
+  ├── <robot_name>_bringup/                              # Launch and config files for starting the robot using ros2_control
+  │   ├── [CMakeLists.txt]                               # if ament_cmake is used (recommended)
   │   ├── package.xml
-  │   ├── [setup.py]
+  │   ├── [setup.py]                                     # if amend_python is used
+  │   ├── [setup.cfg]                                    # if amend_python is used
   │   ├── config/
-  │   │   └── <config>.yaml
+  │   │   ├── <robot_name>_controllers.yaml              # Controllers' configuraiton for ros2_control
+  │   │   ├── <robot_name>_forward_position_publisher.yaml  # Setup test publisher for forward position controller
+  │   │   └── <robot_name>_joint_trajectory_publisher.yaml  # Setup test publisher for joint trajectory controller
   │   └── launch/
-  │       └── <something>.launch.py
-  ├── <manufacturer>_description/                 # Robot's description files
-  │   ├── [CMakeLists.txt]
+  │       ├── <robot_name>.launch.py                     # Robot's default launch file
+  │       ├── test_forward_position_controller.launch.py # Start test publisher for forward position controller
+  │       └── test_joint_trajectory_controller.launch.py # Start test publisher for joint trajectory controller
+  ├── <manufacturer|robot_name>_description/             # Robot's description files
+  │   ├── [CMakeLists.txt]                               # if ament_cmake is used (recommended)
   │   ├── package.xml
-  │   ├── [setup.py]
-  │   ├── config/
-  │   │   └──
-  │   ├── meshes/
-  │   │   └── collision
-  │   │       ├── <link_xy>.stl
-  │   │       └── ...
+  │   ├── [setup.py]                                     # if amend_python is used
+  │   ├── [setup.cfg]                                    # if amend_python is used
+  │   ├── config/                                        # general YAML files for a robot
+  │   │   └── <robot_name>_<someting_specific>.yaml
+  │   ├── launch/                                        # launch files related to testing robots' description
+  │   │   └── test_<robot_name>_description.launch.py
+  │   ├── meshes/                                        # meshes used in <robot_name>_macro.urdf.xacro
+  │   │   ├── collision
+  │   │   │   └── <robot_name|robot_model>               # meshes are sorted by robot name or model
+  │   │   │       ├── <link_xy>.stl
+  │   │   │       └── ...
   │   │   └── visual
-  │   │       ├── <link_xy>.dae
-  │   │       └── ...
-  │   ├── rviz/
+  │   │       └── <robot_name|robot_model>
+  │   │           ├── <link_xy>.dae
+  │   │           └── ...
+  │   ├── rviz/                                          # rviz display configurations
   │   │   └── <robot_name>_default.rviz
-  │   └── urdf/
-  │       ├── <robot_name>.urdf.xacro
-  │       ├── <robot_name>_macro.ros2_control.xacro
-  │       └── <robot_name>_macro.xacro
-  └── <robot_name>_hardware_interface/          # Implementation of the ros2_control interface
+  │   └── urdf/                                          # URDF file for the robot
+  │       ├── common.xacro                               # Common XACRO definitions
+  │       ├── <robot_name>.urdf.xacro                    # Main URDF for a robot - loads macro and other files
+  │       └── <robot_name|robot_model>
+  │           ├── <robot_name>_macro.xacro               # Macro file of the robot - can add prefix, define origin, etc.
+  │           └── <robot_name>_macro.ros2_control.xacro  # URDF-part used to configure ros2_control
+  └── <robot_name>_hardware_interface/                # Implementation of the ros2_control interface
   │   ├── CMakeLists.txt
   │   ├── package.xml
   │   ├── include/

diff --git a/docs/use-cases/create_setup_workspace.rst b/docs/use-cases/create_setup_workspace.rst
@@ -1,4 +1,26 @@
-========================
-Create Setup Workspace
-========================
+===========================
+Setup a new Workspace
+===========================
+.. _uc-setup-workspace:
+
+This use-case describes how to setup a new ROS workspace using scripts from the ROS Team Workspace (RosTeamWS) framework.
+
+.. contents:: Table of Contents
+   :depth: 2
+
+
+Script for Creating Workspace
+==============================
+
+`setup-ros-workspace.bash` accepts ros distro name workspace suffix and workspace folder as parameters.
+All three parameters are optional.
+
+.. code-block:: bash
+   :caption: Usage of the script for setting up a new ROS workspace.
+   :name: setup-workspace
+
+   setup-ros-workspace.bash ROS_DISTRO WS_SUFFIX WS_FOLDER
+
+The script creates...
+
 
diff --git a/docs/use-cases/setup_robot_bringup_package.rst b/docs/use-cases/setup_robot_bringup_package.rst
@@ -0,0 +1,30 @@
+==========================================
+Setup robot bringup
+==========================================
+.. _uc-setup-robot-bringup:
+
+This use-case describes how to set up a robot bringup package using scripts from ROS Team Workspace (RosTeamWS) framework.
+The package follows as far as possible best practices for `robot support packages <http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages>`_ from ROS-Industrial consortia. (**This has to be verified!**)
+
+.. contents:: Table of Contents
+   :depth: 2
+
+Script for Setting up Description Package
+============================================
+
+``setup-robot-bringup.bash`` script accepts the robot name and, optionally, the package name.
+If the package name is not set, it is guessed from the current path using the folder's name.
+The script **has to be executed** from the folder where the bringup should be generated.
+
+**Note**: it is recomended to setup your package using :ref:`set-new-package.bash <uc-new-package>` scritpt.
+
+The scripts copies template files from the ``templates/robot_bringup`` folder, rename the files, and replaces the placeholders.
+
+.. code-block:: bash
+   :caption: Usage of script for setting up the robot bringup.
+   :name: setup-robot-bringup
+
+   setup-robot-bringup.bash ROBOT_NAME [PKG_NAME]
+
+
+After all files are copied and placeholders set, a commit is automatically created.
diff --git a/docs/use-cases/setup_robot_ros2_control_hardware.rst b/docs/use-cases/setup_robot_ros2_control_hardware.rst
@@ -0,0 +1,33 @@
+=======================================================
+Setup robot's ros2_control hardware package
+=======================================================
+.. _uc-setup-ros2-control-hardware:
+
+This use-case describes how to set up a robot's hardware interface for the ros2_control framework using scripts from ROS Team Workspace (RosTeamWS) framework.
+
+.. contents:: Table of Contents
+   :depth: 2
+
+Script for Setting up ros2_control hardware package
+====================================================
+
+``setup-robot-ros2-control-hardware.bash`` script accepts the file name of the robot's hardware interfacea and, optionally, class name and the package name.
+The file name should use standard ROS format <my_cool_robot_hardware>.
+A ``.cpp`` and ``.hpp`` files will added using this name.
+If the class name is not set, it is guessed by camel-casing the file name.
+If the package name is not set, it is guessed from the current path using the folder's name.
+The script **has to be executed** from the folder where the package should be generated.
+
+**Note**: it is recomended to setup your package using :ref:`set-new-package.bash <uc-new-package>` scritpt.
+
+The scripts copies template files from the ``templates/ros2_control/hardware`` folder, rename the files, and replaces the placeholders.
+The scripts adds also a plugin description and simple test checking if the plugin can be loaded.
+
+.. code-block:: bash
+   :caption: Usage of script for setting up the robot bringup.
+   :name: setup-ros2-control-hardware
+
+   setup-robot-ros2-control-hardware.bash FILE_NAME [CLASS_NAME] [PKG_NAME]
+
+
+After all files are copied and placeholders set, a commit is automatically created.
diff --git a/ros_team_workspace.repos b/ros_team_workspace.repos
@@ -0,0 +1 @@
+repositories: