Merge remote-tracking branch 'origin/main' into tool_contact

Author: Felix Exner

.github/helpers/check_urls.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+set -e
+
+IGNORE_FILES=""
+IGNORE_PATTERNS=""
+
+while getopts ":f:d:p:" opt; do
+    case "${opt}" in
+        f)
+            IGNORE_FILES="${OPTARG}";;
+        d)
+            IGNORE_DIRS="${OPTARG}";;
+        p)
+            IGNORE_PATTERNS="${OPTARG}";;
+        \?)
+            echo "Invalid option -$OPTARG"
+            exit;;
+    esac
+done
+
+read -r -a ignore_files <<<"$IGNORE_FILES"
+read -r -a ignore_dirs <<<"$IGNORE_DIRS"
+read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
+
+IGNORE_FILES_ARG=""
+for item in "${ignore_files[@]}"; do
+  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
+done
+IGNORE_DIRS_ARG=""
+for item in "${ignore_dirs[@]}"; do
+  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
+done
+
+#Find URLs in code:
+urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
+
+fail_counter=0
+
+FAILED_LINKS=()
+for item in $urls; do
+#     echo $item
+    skip=0
+    for pattern in "${ignore_patterns[@]}"; do
+      [[ "$item" =~ $pattern ]] && skip=1
+    done
+
+    if [[ $skip == 1 ]]; then
+      echo "SKIPPING $item"
+      continue
+    fi
+
+    filename=$(echo "$item" | cut -d':' -f1)
+    url=$(echo "$item" | cut -d':' -f2-)
+    echo -n "Checking $url from file $filename"
+    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo -e " \033[0;31mNOT FOUND\033[32m\n"
+        FAILED_LINKS+=("$url from file $filename")
+        ((fail_counter=fail_counter+1))
+    else
+        printf " \033[32mok\033[0m\n"
+    fi
+done
+
+echo "Failed files:"
+printf '%s\n' "${FAILED_LINKS[@]}"
+exit $fail_counter

.github/workflows/check_links.yml

@@ -0,0 +1,19 @@
+name: Check Links
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  check_links:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check URLs
+        run: |
+          .github/helpers/check_urls.sh \
+            -d ".git build CMakeModules debian" \
+            -f "package.xml ursim_docker.rst architecture_coarse.svg" \
+            -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause"

.github/workflows/update-ci.yml

@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,13 +33,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.17.0
+    rev: v3.18.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length=100"]
@@ -69,7 +69,7 @@ repos:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -80,7 +80,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +102,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists.txt$
@@ -113,14 +113,14 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
         args: ['--exclude', 'ur_robot_driver/doc/conf.py', 'ur_calibration/doc/conf.py']
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']

README.md

@@ -1,7 +1,7 @@
 # Universal Robots ROS2 Driver
 
 Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.
-<center><img src="ur_robot_driver/doc/installation/initial_setup_images/family_photo.png" alt="Universal Robot family" style="width: 80%;"/></center>
+<div align="center"><img src="ur_robot_driver/doc/installation/initial_setup_images/family_photo.png" alt="Universal Robot family" style="width: 90%;"/></div>
 
 This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
 
@@ -103,24 +103,24 @@ For getting started, you'll basically need three steps:
    ```bash
    sudo apt-get install ros-rolling-ur
    ```
-   See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
+   See the [installation instructions](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/installation.html) for more details and source-build instructions.
 
 2. **Start & Setup the robot**. Once you've installed the driver, [setup the
-   robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
+   robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html)
    and [create a program for external
-   control](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_e_series.html).
+   control](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html).
 
    Please do this step carefully and extract the calibration as explained
-   [here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
+   [here](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html#extract-calibration-information).
    Otherwise the TCP's pose will not be correct inside the ROS ecosystem.
 
    If no real robot is required, you can [use a simulated
-   robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
+   robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/simulation.html#usage-with-official-ur-simulator)
    that will behave almost exactly like the real robot.
 
 
 3. **Start the driver**. See the [usage
-   documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
+   documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for
    details.
 
    ```bash
@@ -129,7 +129,7 @@ For getting started, you'll basically need three steps:
    ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
    ```
 
-4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
+4. Unless started in [headless mode](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/operation_modes.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
 
 
 ## MoveIt! support
@@ -142,9 +142,9 @@ Watch MoveIt in action with the Universal Robots ROS2 driver:
   *The video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.*
 
 See the [MoveIt!
-section](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#using-moveit)
+section](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/move.html#using-moveit)
 of the [Usage
-guide](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for details.
+guide](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for details.
 
 ## Expected Changes in the Near Future