ros-controls / control.ros.org Goto Github PK

This issue is meant as overview for the different merges needed to make multi version work.

1. • Have a look at Preparation for multi version to have an overview how the structure of the documentation is changed.
2. • Merge changes made to foxy branch and galactic branch. This includes above-mentioned structural changes.
3. • Merge change to ros2_control doc foxy branch. This is needed, otherwise the created api for foxy won't be at the correct location.
4. • Main work Finally, merge changes changes to master . This includes above-mentioned structural changes, updated github-actions and the creation of a multiversion documenation with the branches foxy, galactic and rolling as master.

So I'm talking about this page.

Some things I noticed:

• Shouldn't Available Controllers be under Controllers instead of under Guidelines and Best Practices? EDIT: same for Available Broadcasters, do they fit under Guidelines and Best Practices?
• The Joint Trajectory Controller link under Controllers links to a 404
• With regards to the diff drive controller. Would it be a good idea if it (and the other controllers) would look more like how Nav2 does it? With a list of parameters and what they do? EDIT: or like it's done at the Joint State Controller

I wouldn't mind working on these points. I'd just like to receive input before I start.

I found a typo "controlles" to "controllers" below the "Controller" section.
Can I edit the typos? If i can, how can I start? I would like to contribute this repo starting with this issue.

What do you think to add this on "About" page something similar to Navigation2

Why not also add list of the core maintainers? This would increase credibility, as there are persons with names behind the framework.

And we can link to GH statistics for the developers, saying "thanks" to all individuals working with us

Originally posted by @destogl in #6 (comment)

Currently the homepage lists ROS Answers. You should also look into creating the ros2_control tag over there, becuase right now there isn't one and new users with no reputation just have to tag control and ros2 and hope for the best

Due to changes in ros-controls/ros2_control#681, the instruction from Getting Started - Compiling:

wget https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos

fails.

Background

I would like to contribute a migration guide for custom controllers from Foxy to Galactic since there are changes to the interface of controllers.

Issue

If I click on the "Edit on GitHub" link at the top right corner of the "ros2_controllers" page I get the default Error 404 – File Not Found page displayed with the following error message:

The 'ros-controls/control.ros.org' repository doesn't contain the 'doc/ros2_controllers/doc/controllers_index.rst' path in 'galactic'.

How to reproduce

• Go to: https://control.ros.org/galactic/doc/ros2_controllers/doc/controllers_index.html#
• Click on "Edit on GitHub" at the top right corner of the page.

Other pages with the same problem:

• https://control.ros.org/galactic/doc/ros2_control/doc/index.html
• https://control.ros.org/galactic/doc/ros2_control/ros2controlcli/doc/userdoc.html

on this page there is:

Section Hardware Components describes this in detail.

but the link leads back to the same page, not to the "Hardware Components" section.

Is this the intended location for this link?:
https://control.ros.org/humble/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.html#hardware-components

also on that page, this link leads to nowhere. I don't know where it should lead:

strings in hardware’s description

(I'm not very familiar with making PRs to this project, sorry if I don't do it)

          I think that the CI is not working properly for backports<master in this repo. we haven't backported stuff for a long time here.

maybe we can configure the ci jobs to only run make html instead of make multiversion for the older branches

Originally posted by @christophfroehlich in #111 (comment)

• Build instructions in the getting_started are rather short. It might be worthwile extending this to creating the workspace, installing dependencies using rosdep and actually building and sourcing the workspace. However, that would probably be material for another PR.

Originally posted by @fmauch in #102 (comment)

• Badges from the builds have not been included anywhere, so far.

Originally posted by @fmauch in #102 (comment)

• The getting_started.rst refers to the rolling file only. It might be worthwile backporting the changes to the rst to humble, as well.

Originally posted by @fmauch in #102 (comment)

List of broken links PR #130

• (doc/resources/resources: line 207) broken ../_images/jcommand_and_state_interfaces.png -
• (doc/resources/resources: line 202) broken ../_images/jcomplex_controllers_and_semantic_components.png -
• (doc/resources/resources: line 212) broken ../_images/jhardware_interface_lifecycle.png -
• (doc/resources/resources: line 280) broken ../_images/jros2_control_mobile_manipulator.png -
• (doc/resources/resources: line 220) broken ../_images/jros2_control_mobile_manipulator_control_arch_admittance_chaining.png -
• (doc/resources/resources: line 228) broken ../_images/jros2_control_mobile_manipulator_control_arch_admittance_without_chaining.png -
• (doc/resources/resources: line 232) broken ../_images/jros2_control_mobile_manipulator_control_arch_base_chaining.png -
• (doc/resources/resources: line 240) broken ../_images/jros2_control_mobile_manipulator_control_arch_base_without_chaining.png -
• (doc/resources/resources: line 244) broken ../_images/jros2_control_mobile_manipulator_control_arch_convoluted_controllers.png -
• (doc/resources/resources: line 260) broken ../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms.png -
• (doc/resources/resources: line 264) broken ../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms_urdf.png -
• (doc/resources/resources: line 252) broken ../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware.png -
• (doc/resources/resources: line 256) broken ../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware_urdf.png -
• (doc/resources/resources: line 268) broken ../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware.png -
• (doc/resources/resources: line 272) broken ../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware_urdf.png -
• (doc/resources/resources: line 276) broken ../_images/jros2_control_mobile_manipulator_control_arch_multi_robots_in_one_controller_manager.png -
• (doc/resources/resources: line 284) broken ../_images/jros2_control_mobile_manipulator_controllers.png -
• (doc/resources/resources: line 224) broken ../_images/jros2_control_mobile_manipulator_controllers_admittance_chaining.png -
• (doc/resources/resources: line 236) broken ../_images/jros2_control_mobile_manipulator_controllers_base_chaining.png -
• (doc/resources/resources: line 248) broken ../_images/jros2_control_mobile_manipulator_controllers_convoluted_controllers.png -
• (doc/resources/resources: line 197) broken ../_images/jros2_control_robot_integration_with_moveit2.png -
• (doc/resources/resources: line 192) broken ../_images/ros2_control_overview.png -
• (doc/ros2_controllers/joint_trajectory_controller/doc/userdoc: line 330) broken ../../index.rst -
• (doc/ros2_controllers/doc/writing_new_controller: line 8) broken https://docs.ros.org/en/master/Tutorials/Beginner-Client-Libraries/Pluginlib.html - 404 Client Error: Not Found for url: https://docs.ros.org/en/master/Tutorials/Beginner-Client-Libraries/Pluginlib.html
• (doc/supported_robots/supported_robots: line 41) broken https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_moveit_config/README.md - 404 Client Error: Not Found for url: https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_moveit_config/README.md
• (doc/gazebo_ros2_control/doc/index: line 289) broken https://github.com/ros-controls/gazebo_ros_demos/tree/ahcorde/port/ros2 - 404 Client Error: Not Found for url: https://github.com/ros-controls/gazebo_ros_demos/tree/ahcorde/port/ros2
• (doc/differences_to_ros1/differences_to_ros1: line 58) broken https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_hardware/ros2_control_demo_hardware.xml - 404 Client Error: Not Found for url: https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_hardware/ros2_control_demo_hardware.xml

The linkchecker complains about anchors on github, not sure how to fix that

• sphinx-doc/sphinx#9016

(doc/gazebo_ros2_control/doc/index: line 50) broken https://github.com/osrf/rocker/#installation - Anchor 'installation' not found
(doc/gz_ros2_control/doc/index: line 51) broken https://github.com/osrf/rocker/#prerequisites - Anchor 'prerequisites' not found
(doc/ros2_control/controller_manager/doc/controller_chaining: line 15) broken https://github.com/ros-controls/roadmap/blob/master/design_drafts/controller_chaining.md#input--outputs-of-a-controller - Anchor 'input--outputs-of-a-controller' not found
(doc/ros2_control/controller_manager/doc/controller_chaining: line 15) broken https://github.com/ros-controls/roadmap/blob/master/design_drafts/controller_chaining.md#controller-group - Anchor 'controller-group' not found
(doc/ros2_control/controller_manager/doc/controller_chaining: line 24) broken https://github.com/ros-controls/roadmap/blob/master/design_drafts/controller_chaining.md#example-2 - Anchor 'example-2' not found
(doc/ros2_control/hardware_interface/doc/writing_new_hardware_interface: line 93) broken https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/test/mock_components/test_generic_system.cpp#L402-L407 - Anchor 'L402-L407' not found
(doc/ros2_controllers/diff_drive_controller/doc/userdoc: line 77) broken https://github.com/ros-controls/ros2_control/blob/master/joint_limits/include/joint_limits/joint_limits_rosparam.hpp#L56-L75 - Anchor 'L56-L75' not found
(doc/ros2_control/hardware_interface/doc/writing_new_hardware_interface: line 41) broken https://github.com/ros-controls/ros2_control/pull/559/files#diff-2bd171d85b028c1b15b03b27d4e6dcbb87e52f705042bf111840e7a28ab268fc - Anchor 'diff-2bd171d85b028c1b15b03b27d4e6dcbb87e52f705042bf111840e7a28ab268fc' not found

I'd like to open a controllers section in the page. Where should the source for that be?

In their respective packages and include the rst in the main doc here?
Or should we write it directly here?

Every single deployment invalidates the DNS record.
Why? Could it be due to the script overwriting some file it is not supposed to?

I can fix it by resetting it after the deployment but that isn't a very good solution :)

FYI @mamueluth @destogl

I don't have a detailed overview, but some rolling-pages might be already incorrect for humble.

At least one example is the JTC doc.

Attempting to access https://control.ros.org/ results in a "Site not found" error. It was working 24 hours ago.

Looks like I messed up the link on the API documentation page to the doxygen sub-path and it needs the extra controls.ros.org sub-folder path. So it should point to something like https://ros-controls.github.io/control.ros.org/api/index.html instead of https://ros-controls.github.io/api/index.html which doesn't exist. I'm going to investigate this a little more to find something that will hopefully work with both the local build and the dynamic one that GitHub pages makes.

I might be mistaken, but is seems like the gpio tag is not documented here? I was not able to find this outside from examples such as the ur_description.

When we want to move the page to control.ros.org we have to use this option

Can we add this check in the script, and cancel execution if there are uncommitted files? This would be useful to avoid unintentional data loss.

Originally posted by @destogl in #38 (comment)