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Fix several links (backport #645) #646

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Nov 17, 2024
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Fix several links (backport #645) #646

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5 changes: 4 additions & 1 deletion example_13/doc/userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -462,7 +462,10 @@ Files used for this demos
- URDF file: `three_robots.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/urdf/three_robots.urdf.xacro>`__

+ Description: `threedofbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/r3bot/urdf/threedofbot_description.urdf.xacro>`__
+ ``ros2_control`` tag: `three_robots.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/three_robots.ros2_control.xacro>`__
+ ``ros2_control`` tag:
+ `threedofbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/threedofbot.ros2_control.xacro>`__
+ `rrbot_system_position_only.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro>`__
+ `rrbot_system_with_sensor.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro>`__
- RViz configuration: `three_robots.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/rviz/three_robots.rviz>`__

Controllers from this demo
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59 changes: 33 additions & 26 deletions example_15/doc/userdoc.rst
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Expand Up @@ -12,21 +12,6 @@ This example shows how to integrate multiple robots under different controller m
Scenario: Using ros2_control within a local namespace
-----------------------------------------------------

* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__

* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__

* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
* Test nodes goals configuration:

+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__

* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__

.. note::

When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, i.e., ``-c /rrbot/controller_manager``.
Expand Down Expand Up @@ -75,25 +60,26 @@ Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/positio

ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml

Scenario: Using multiple controller managers on the same machine
----------------------------------------------------------------
Files used for this demo:

* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
* Controllers yaml:
- `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
- `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__

* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__

* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
* Test nodes goals configuration:

+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml>`__

* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__


Scenario: Using multiple controller managers on the same machine
----------------------------------------------------------------


.. note::
Expand Down Expand Up @@ -169,6 +155,27 @@ Commanding the robots using the now activated ``position_trajectory_controller``

ros2 launch ros2_control_demo_example_15 test_multi_controller_manager_joint_trajectory_controller.launch.py


Files used for this demo:

* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
* Controllers yaml:
- `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
- `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__

* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__

* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
* Test nodes goals configuration:

+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_forward_position_publisher.yaml>`__
+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml>`__

* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__


Controllers from this demo
--------------------------
* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
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