Merge branch 'master' into diffbot_mock

.github/workflows/ci-coverage-build.yml

@@ -34,7 +34,9 @@ jobs:
             ros2_control_demo_example_7
             ros2_control_demo_example_8
             ros2_control_demo_example_9
+            ros2_control_demo_example_10
             ros2_control_demo_example_12
+            ros2_control_demo_example_14
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci-format.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/[email protected].0
+    - uses: actions/[email protected].1
       with:
         python-version: '3.10'
     - name: Install system hooks

.github/workflows/ci-ros-lint.yml

@@ -29,7 +29,9 @@ jobs:
           ros2_control_demo_example_7
           ros2_control_demo_example_8
           ros2_control_demo_example_9
+          ros2_control_demo_example_10
           ros2_control_demo_example_12
+          ros2_control_demo_example_14
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
@@ -57,3 +59,4 @@ jobs:
           ros2_control_demo_example_8
           ros2_control_demo_example_9
           ros2_control_demo_example_12
+          ros2_control_demo_example_14

.github/workflows/iron-docker-build.yaml

@@ -17,6 +17,6 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Build the Docker image
       run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_iron

Dockerfile/entrypoint.sh

@@ -1,5 +1,6 @@
 #!/bin/sh
 
 . /opt/ros/"${ROS_DISTRO}"/setup.sh
-. /home/ros2_ws/install/setup.sh
+cd /home/ros2_ws
+. install/setup.sh
 exec "$@"

README.md

@@ -31,7 +31,6 @@ The following examples are part of this demo repository:
 
    *RRBot* with an integrated sensor.
 
-
 * Example 5: ["Industrial robots with externally connected sensor"](example_5)
 
    *RRBot* with an externally connected sensor.
@@ -52,7 +51,9 @@ The following examples are part of this demo repository:
 
    Demonstrates how to switch between simulation and hardware.
 
-* Example 10: "RRbot with GPIO interfaces (tba.)"
+* Example 10: ["Industrial robot with GPIO interfaces"](example_10)
+
+   *RRBot* with GPIO interfaces.
 
 * Example 11: "Car-like robot using steering controller library (tba.)"
 
@@ -62,6 +63,8 @@ The following examples are part of this demo repository:
 
 * Example 13: "Multi-robot example (tba.)"
 
+* Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
+
 ## Getting started
 
 The repository is structured into `example_XY` folders that fully contained packages with names `ros2_control_demos_example_XY`.

doc/index.rst

@@ -52,10 +52,10 @@ Example 3: "RRBot with multiple interfaces"
 Example 4: "Industrial robot with integrated sensor"
    *RRBot* with an integrated sensor.
 
-Example 5: "Industrial Robots with externally connected sensor"
+Example 5: "Industrial robot with externally connected sensor"
    *RRBot* with an externally connected sensor.
 
-Example 6: "Modular Robots with separate communication to each actuator"
+Example 6: "Modular robot with separate communication to each actuator"
    The example shows how to implement robot hardware with separate communication to each actuator.
 
 Example 7: "6-DOF robot"
@@ -67,9 +67,19 @@ Example 8: "Using transmissions"
 Example 9: "Gazebo Classic"
    Demonstrates how to switch between simulation and hardware.
 
+Example 10: "GPIO interfaces"
+   Industrial robot with GPIO interfaces
+
+Example 11: "Car-like robot using steering controller library (tba.)"
+
 Example 12: "Controller chaining"
    The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
+Example 13: "Multi-robot example (tba.)"
+
+Example 14: "Modular robots with actuators not providing states and with additional sensors"
+
+
 .. _ros2_control_demos_install:
 
 =====================
@@ -259,4 +269,6 @@ Examples
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
    Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+   Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>
+   Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>

doc/run_from_docker.rst

@@ -1,9 +1,3 @@
 .. note::
 
-   The commands below are given for a local installation of this repository and its dependencies. If you use the provided docker container, add the prefix
-
-   .. code::
-
-      docker run -it --rm --name ros2_control_demos --net host ros2_control_demos
-
-   to every command followed by a ``gui:=false``. For more information on the docker usage see :ref:`ros2_control_demos_install`.
+   The commands below are given for a local installation of this repository and its dependencies as well as for running them from a docker container. For more information on the docker usage see :ref:`doc/ros2_control_demos/doc/index:using docker`.