Diff Bot Wheel Inertia Values

.clang-format

@@ -10,6 +10,6 @@ ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
 PointerAlignment: Middle
-ReflowComments: false
+ReflowComments: true
 IncludeBlocks: Preserve
 ...

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

@@ -2,7 +2,7 @@ name: Coverage Build
 on:
   pull_request:
     branches:
-      - master
+      - humble
 
 jobs:
   coverage:
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
     env:
-      ROS_DISTRO: rolling
+      ROS_DISTRO: humble
     container:
       image: ubuntu:jammy
     steps:
@@ -31,7 +31,12 @@ jobs:
             ros2_control_demo_example_4
             ros2_control_demo_example_5
             ros2_control_demo_example_6
+            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-ros-lint.yml

@@ -24,7 +24,12 @@ jobs:
           ros2_control_demo_example_4
           ros2_control_demo_example_5
           ros2_control_demo_example_6
+          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 }}
@@ -48,4 +53,9 @@ jobs:
           ros2_control_demo_example_4
           ros2_control_demo_example_5
           ros2_control_demo_example_6
+          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/foxy-binary-build.yml → .github/workflows/humble-binary-build.yml

@@ -1,14 +1,13 @@
-name: Foxy Binary Build
-# author: Denis Štogl <[email protected]>
+name: Humble Binary Build
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   pull_request:
     branches:
-      - foxy
+      - humble
   push:
     branches:
-      - foxy
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -17,6 +16,6 @@ jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: foxy
-      upstream_workspace: ros2_control_demos-not-released.foxy.repos
-      ref_for_scheduled_build: foxy
+      ros_distro: humble
+      upstream_workspace: ros2_control_demos-not-released.humble.repos
+      ref_for_scheduled_build: humble

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

@@ -0,0 +1,22 @@
+name: Build Humble Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '40 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble

.github/workflows/foxy-semi-binary-build.yml → .github/workflows/humble-semi-binary-build.yml

@@ -1,13 +1,13 @@
-name: Foxy Semi-Binary Build
+name: Humble Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   pull_request:
     branches:
-      - foxy
+      - humble
   push:
     branches:
-      - foxy
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -16,6 +16,6 @@ jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: foxy
-      upstream_workspace: ros2_control_demos.foxy.repos
-      ref_for_scheduled_build: foxy
+      ros_distro: humble
+      upstream_workspace: ros2_control_demos.humble.repos
+      ref_for_scheduled_build: humble

Dockerfile/Dockerfile

@@ -0,0 +1,33 @@
+ARG ROS_DISTRO=humble
+
+FROM ros:${ROS_DISTRO}-ros-base
+
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt-get update \
+    && apt-get upgrade -y \
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY . /home/ros2_ws/src/ros2_control_demos
+
+RUN cd /home/ros2_ws/src \
+    && rosdep update --rosdistro ${ROS_DISTRO}  \
+    && apt-get update \
+    && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} \
+    --skip-keys ros-${ROS_DISTRO}-joint-state-publisher-gui --skip-keys ros-${ROS_DISTRO}-rviz2\
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN cd /home/ros2_ws/ \
+  && . /opt/ros/${ROS_DISTRO}/setup.sh \
+  && colcon build --merge-install --symlink-install
+
+COPY Dockerfile/entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+CMD ros2 launch ros2_control_demo_example_1 rrbot.launch.py start_rviz:=false

Dockerfile/entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+. /opt/ros/"${ROS_DISTRO}"/setup.sh
+cd /home/ros2_ws
+. install/setup.sh
+exec "$@"

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.
 
@@ -31,22 +31,39 @@ The following examples are part of this demo repository:
 
    *RRBot* with an integrated sensor.
 
-
-* Example 5: ["Industrial Robots with externally connected sensor"](example_5)
+* Example 5: ["Industrial robots with externally connected sensor"](example_5)
 
    *RRBot* with an externally connected sensor.
 
-* Example 6: ["Modular Robots with separate communication to each actuator"](example_6)
+* Example 6: ["Modular robots with separate communication to each actuator"](example_6)
 
    The example shows how to implement robot hardware with separate communication to each actuator.
 
-* Example 7: "Multi-robot example (tba.)"
+* Example 7: ["6-DOF robot"](example_7)
+
+   A full tutorial for a 6 DOF robot for intermediate ROS 2 users.
 
 * Example 8: ["Using transmissions"](example_8)
 
    *RRBot* with an exposed transmission interface.
 
-* Example 9: "Gazebo Classic and Gazebo Sim (tba.)"
+* Example 9: ["Gazebo classic simulation"](example_9)
+
+   Demonstrates how to switch between simulation and hardware.
+
+* Example 10: ["Industrial robot with GPIO interfaces"](example_10)
+
+   *RRBot* with GPIO interfaces.
+
+* Example 11: "Car-like robot using steering controller library (tba.)"
+
+* Example 12: ["Controller chaining"](example_12)
+
+   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"](example_14)
 
 ## Getting started
 
@@ -76,12 +93,12 @@ The important files to check in each example are:
 The concepts in this package are demonstrated on the examples of *RRBot* and *DiffBot*.
 Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts.
 
-
 ## Build status
 
 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)
+**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)
 
@@ -99,27 +116,3 @@ ROS 2 Distro | Branch | Build status | Documentation
    Uses repos file: `src/$NAME$/$NAME$.repos`
 
 1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
-
-
-# Build from source
-```
-git clone https://github.com/ros-controls/ros2_control
-git clone https://github.com/ros-controls/ros2_controllers
-git clone https://github.com/ros-controls/ros2_control_demos
-```
-
-**NOTE**: `ros2_control` and `ros2_controllers` packages are released and can be installed using a package manager.
-We provide officially released and maintained debian packages, which can easily be installed via aptitude.
-However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace.
-
-* Install dependencies:
-  ```
-  rosdep install --from-paths src --ignore-src -r -y
-  ```
-
-* Build everything, e.g. with:
-  ```
-  colcon build --symlink-install
-  ```
-
-* Do not forget to source `setup.bash` from the `install` folder!