diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
new file mode 100644
index 0000000..c96b1af
--- /dev/null
+++ b/.github/workflows/rosdoc2.yml
@@ -0,0 +1,14 @@
+name: rosdoc2
+
+on:
+ workflow_dispatch:
+ pull_request:
+ paths:
+ - control_msgs/doc/**
+ - control_msgs/rosdoc2.yaml
+ - control_msgs/package.xml
+
+
+jobs:
+ check:
+ uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index c6de5ef..8d1306a 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -104,6 +104,7 @@ repos:
description: Check if copyright notice is available in all files.
entry: ament_copyright
language: system
+ exclude: doc/conf.py
# Docs - RestructuredText hooks
- repo: https://github.com/PyCQA/doc8
diff --git a/README.md b/README.md
index d547769..ce4a082 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
control_msgs
===========
+control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.
+
See [control_msgs documentation](https://index.ros.org/p/control_msgs/) on index.ros.org
diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 9ff564b..30ca2ab 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -52,11 +52,6 @@ set(srv_files
srv/QueryTrajectoryState.srv
)
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- ament_lint_auto_find_test_dependencies()
-endif()
-
rosidl_generate_interfaces(${PROJECT_NAME}
${action_files}
${msg_files}
diff --git a/control_msgs/doc/conf.py b/control_msgs/doc/conf.py
new file mode 100644
index 0000000..b6134e9
--- /dev/null
+++ b/control_msgs/doc/conf.py
@@ -0,0 +1,5 @@
+# Configuration file for the Sphinx documentation builder.
+# settings will be overridden by rosdoc2, so we add here only custom settings
+
+copyright = "2024, ros2_control development team"
+html_logo = "https://control.ros.org/master/_static/logo_ros-controls.png"
diff --git a/control_msgs/doc/index.rst b/control_msgs/doc/index.rst
new file mode 100644
index 0000000..51dec92
--- /dev/null
+++ b/control_msgs/doc/index.rst
@@ -0,0 +1,23 @@
+Welcome to the documentation for control_msgs
+===============================================
+
+control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.
+
+For more information of the ros2_control framework see `control.ros.org `__.
+
+API documentation
+------------------
+
+.. toctree::
+ :maxdepth: 2
+
+ Action Definitions
+ Message Definitions
+ Service Definitions
+
+
+Indices and Search
+==================
+
+* :ref:`genindex`
+* :ref:`search`
diff --git a/control_msgs/package.xml b/control_msgs/package.xml
index c7ab556..b471d1f 100644
--- a/control_msgs/package.xml
+++ b/control_msgs/package.xml
@@ -5,14 +5,14 @@
5.1.0
control_msgs contains base messages and actions useful for
- controlling robots. It provides representations for controller
+ controlling robots. It provides representations for controller
setpoints and joint and cartesian trajectories.
Bence Magyar
BSD-3-Clause
- http://ros.org/wiki/control_msgs
+ https://control.ros.org
Stuart Glaser
ament_cmake