Merge branch 'master' into pr147_rebase

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

@@ -34,6 +34,7 @@ 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
 

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

@@ -29,6 +29,7 @@ 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
 

.github/workflows/iron-binary-build.yml

@@ -0,0 +1,22 @@
+name: Iron Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_control_demos-not-released.iron.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,22 @@
+name: Build Iron Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '50 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_iron

.github/workflows/iron-semi-binary-build.yml

@@ -0,0 +1,21 @@
+name: Iron Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_control_demos.iron.repos
+      ref_for_scheduled_build: master

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.)"
 
@@ -97,6 +98,7 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Iron** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
 **Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)

doc/index.rst

@@ -67,7 +67,8 @@ Example 8: "Using transmissions"
 Example 9: "Gazebo Classic"
    Demonstrates how to switch between simulation and hardware.
 
-Example 10: "RRbot with GPIO interfaces (tba.)"
+Example 10: "GPIO interfaces"
+   Industrial robot with GPIO interfaces
 
 Example 11: "Car-like robot using steering controller library (tba.)"
 
@@ -268,5 +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`.