Docs/fix robot system launch path

.clang-format

@@ -0,0 +1,17 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+IndentWidth: 2
+TabWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+...

.codespellignore

@@ -0,0 +1 @@
+ons

.github/ISSUE_TEMPLATE/bug_report.md

@@ -19,9 +19,9 @@ A clear and concise description of what you expected to happen.
 **Logs**
 
 **Setup:**
- - Device: 
- - OS: 
- - ROS-Distro: 
+ - Device:
+ - OS:
+ - ROS-Distro:
  - Branch/Commit:
 
 **Additional context**

.github/ISSUE_TEMPLATE/question.md

@@ -14,9 +14,9 @@ A clear and concise description of what the bug is.
 Add build or execution log for context.
 
 **Setup:**
- - Device: 
- - OS: 
- - ROS-Distro: 
+ - Device:
+ - OS:
+ - ROS-Distro:
  - Branch/Commit:
 
 **Additional context**

.github/workflows/ci-format.yml

@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Pre-commit Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v2
+      with:
+        python-version: 3.10.6
+    - name: Install system hooks
+      run: sudo apt update && sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

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

@@ -0,0 +1,39 @@
+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          $PKG_NAME$
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          ros2_canopen

.github/workflows/humble.yml

@@ -1,11 +1,11 @@
-name: humble
+name: Industrial CI Humble
 
-on: 
+on:
   push:
-    branches: [ master ] 
+    branches: [ humble ]
   pull_request:
-    branches: [ master ]
-  workflow_dispatch: 
+    branches: [ humble ]
+  workflow_dispatch:
 
 jobs:
   industrial_ci:

.github/workflows/humble_documentation.yml

@@ -0,0 +1,64 @@
+name: Documentation Humble
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the master branch
+  push:
+    branches: [ humble ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build_documentation:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v3
+
+      - name: Install dependencies
+        run: |
+            sudo apt-get update -qq
+            sudo apt-get install -y -qq doxygen graphviz plantuml
+            pip install sphinx-rtd-theme
+            pip install sphinxcontrib-plantuml
+            pip install sphinx-mdinclude
+            pip install breathe
+            pip install exhale
+
+      - name: Build doxygen
+        run: |
+            cd ./canopen/doxygen/
+            doxygen
+            cd ../..
+
+      - name: Build documentation
+        run: |
+            cd ./canopen/sphinx/
+            make html
+            cd ../..
+
+      - name: Create commit
+        run: |
+            git clone https://github.com/ros-industrial/ros2_canopen.git --branch gh-pages --single-branch gh-pages
+            mkdir -p gh-pages/manual/humble/
+            mkdir -p gh-pages/api/humble/
+            cp -r ./canopen/sphinx/_build/html/* gh-pages/manual/humble/
+            cp -r ./canopen/doxygen/_build/html/* gh-pages/api/humble/
+            cd gh-pages
+            git config --local user.email "[email protected]"
+            git config --local user.name "GitHub Action"
+            git add .
+            git commit -m "Update documentation" -a || true
+
+      - name: Push changes
+        uses: ad-m/github-push-action@master
+        with:
+          branch: gh-pages
+          directory: gh-pages
+          github_token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/foxy.yml → .github/workflows/iron.yml

@@ -1,11 +1,11 @@
-name: foxy
+name: Industiral CI Iron
 
-on: 
+on:
   push:
-    branches: [ master ] 
+    branches: [ iron ]
   pull_request:
-    branches: [ master ]
-  workflow_dispatch: 
+    branches: [ iron ]
+  workflow_dispatch:
 
 jobs:
   industrial_ci:
@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [foxy]
+        ROS_DISTRO: [iron]
         ROS_REPO: [testing]
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"

.github/workflows/iron_documentation.yml

@@ -0,0 +1,64 @@
+name: Documentation Iron
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the master branch
+  push:
+    branches: [ iron ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build_documentation:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v3
+
+      - name: Install dependencies
+        run: |
+            sudo apt-get update -qq
+            sudo apt-get install -y -qq doxygen graphviz plantuml
+            pip install sphinx-rtd-theme
+            pip install sphinxcontrib-plantuml
+            pip install sphinx-mdinclude
+            pip install breathe
+            pip install exhale
+
+      - name: Build doxygen
+        run: |
+            cd ./canopen/doxygen/
+            doxygen
+            cd ../..
+
+      - name: Build documentation
+        run: |
+            cd ./canopen/sphinx/
+            make html
+            cd ../..
+
+      - name: Create commit
+        run: |
+            git clone https://github.com/ros-industrial/ros2_canopen.git --branch gh-pages --single-branch gh-pages
+            mkdir -p gh-pages/manual/iron/
+            mkdir -p gh-pages/api/iron/
+            cp -r ./canopen/sphinx/_build/html/* gh-pages/manual/iron/
+            cp -r ./canopen/doxygen/_build/html/* gh-pages/api/iron/
+            cd gh-pages
+            git config --local user.email "[email protected]"
+            git config --local user.name "GitHub Action"
+            git add .
+            git commit -m "Update documentation" -a || true
+
+      - name: Push changes
+        uses: ad-m/github-push-action@master
+        with:
+          branch: gh-pages
+          directory: gh-pages
+          github_token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/prerelease-rolling.yml

@@ -0,0 +1,26 @@
+name: Prerelease-Test Rolling
+
+on:
+  workflow_dispatch:
+  push:
+    tags:
+      - "*"
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [testing]
+    steps:
+      - uses: actions/checkout@v2
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          BEFORE_INSTALL_TARGET_DEPENDENCIES: 'sudo apt-get update'
+          AFTER_BUILD_TARGET_WORKSPACE: 'set +u && COLCON_TRACE=0 AMENT_TRACE_SETUP_FILES=0 source /root/target_ws/install/setup.bash && set -u'
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+          PRERELEASE: true

.github/workflows/rolling.yml

@@ -1,11 +1,11 @@
-name: rolling
+name: Industrial CI Rolling
 
-on: 
+on:
   push:
-    branches: [ master ] 
+    branches: [ master ]
   pull_request:
     branches: [ master ]
-  workflow_dispatch: 
+  workflow_dispatch:
 
 jobs:
   industrial_ci:
@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, iron]
         ROS_REPO: [testing]
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
@@ -29,5 +29,7 @@ jobs:
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           BEFORE_INSTALL_TARGET_DEPENDENCIES: 'sudo apt-get update'
+          AFTER_BUILD_TARGET_WORKSPACE: 'set +u && COLCON_TRACE=0 AMENT_TRACE_SETUP_FILES=0 source /root/target_ws/install/setup.bash && set -u'
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
+          PRERELEASE: false