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Fix doc links (#1247)
* Add check_links workflow * Use urcl start_ursim from ur_bringup, as well * Update links in README
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‎.github/helpers/check_urls.sh‎

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

‎.github/workflows/check_links.yml‎

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

‎README.md‎

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@@ -97,23 +97,23 @@ For getting started, you'll basically need three steps:
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```bash
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sudo apt-get install ros-humble-ur
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```
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See the [installation instructions](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
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See the [installation instructions](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/installation/installation.html) for more details and source-build instructions.
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2. **Start & Setup the robot**. Once you've installed the driver, [setup the
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robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/robot_setup.html)
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robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/installation/robot_setup.html)
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and [create a program for external
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control](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/install_urcap_e_series.html).
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control](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/installation/install_urcap_e_series.html).
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Please do this step carefully and extract the calibration as explained
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[here](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
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[here](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/installation/robot_setup.html#extract-calibration-information).
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Otherwise the TCP's pose will not be correct inside the ROS ecosystem.
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If no real robot is required, you can [use a simulated
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robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
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robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html#usage-with-official-ur-simulator)
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that will behave almost exactly like the real robot.
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3. **Start the driver**. See the [usage
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documentation](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html) for
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documentation](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html) for
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details.
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```bash
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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```
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4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
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4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
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## MoveIt! support
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*The video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.*
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See the [MoveIt!
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section](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html#using-moveit)
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of the [Usage guide](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html)
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section](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html#using-moveit)
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of the [Usage guide](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html)
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for details.
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‎ur_bringup/scripts/start_ursim.sh‎

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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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PERSISTENT_BASE="${HOME}/.ursim"
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URCAP_VERSION="1.0.5"
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echo -e "\033[0;31mDEPRECATION WARNING: " \
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"Launch files from the ur_bringup package are deprecated and will be removed from Iron " \
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"Irwini on. Please use the same launch files from the ur_robot_driver package." \
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"\033[0m"
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help()
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{
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# Display Help
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echo "Starts URSim inside a docker container"
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echo
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echo "Syntax: `basename "$0"` [-m|s|h]"
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echo "options:"
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echo " -m <model> Robot model. One of [ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e]. Defaults to ur5e."
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echo " -h Print this Help."
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echo
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}
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ORANGE='\033[0;33m'
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NC='\033[0m' # No Color
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ROBOT_MODEL=UR5
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ROBOT_SERIES=e-series
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URSIM_CMD="ros2 run ur_client_library start_ursim.sh"
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validate_model()
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{
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case $ROBOT_MODEL in
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ur3|ur5|ur10)
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ROBOT_MODEL=${ROBOT_MODEL^^}
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ROBOT_SERIES=cb3
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;;
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ur3e|ur5e|ur10e|ur16e)
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ROBOT_MODEL=${ROBOT_MODEL^^}
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ROBOT_MODEL=$(echo ${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))})
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ROBOT_SERIES=e-series
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;;
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*)
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echo "Not a valid robot model: $ROBOT_MODEL"
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exit
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;;
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esac
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}
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while getopts ":hm:s:" option; do
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case $option in
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h) # display Help
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help
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exit;;
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m) # robot model
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ROBOT_MODEL=${OPTARG}
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validate_model
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;;
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\?) # invalid option
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echo "Error: Invalid option"
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help
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exit;;
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esac
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done
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URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
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PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
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# Create local storage for programs and URCaps
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mkdir -p "${URCAP_STORAGE}"
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mkdir -p "${PROGRAM_STORAGE}"
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# Download external_control URCap
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if [[ ! -f "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" ]]; then
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curl -L -o "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" \
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"https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/download/v${URCAP_VERSION}/externalcontrol-${URCAP_VERSION}.jar"
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fi
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# Check whether network already exists
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docker network inspect ursim_net > /dev/null
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if [ $? -eq 0 ]; then
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echo "ursim_net already exists"
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else
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echo "Creating ursim_net"
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docker network create --subnet=192.168.56.0/24 ursim_net
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fi
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# run docker container
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docker run --rm -d --net ursim_net --ip 192.168.56.101\
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-v "${URCAP_STORAGE}":/urcaps \
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-v "${PROGRAM_STORAGE}":/ursim/programs \
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-e ROBOT_MODEL="${ROBOT_MODEL}" \
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--name ursim \
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universalrobots/ursim_${ROBOT_SERIES} || exit
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trap "echo killing; docker container kill ursim; exit" SIGINT SIGTERM
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echo "Docker URSim is running"
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printf "\nTo access Polyscope, open the following URL in a web browser.\n\thttp://192.168.56.101:6080/vnc.html\n\n"
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echo "To exit, press CTRL+C"
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while :
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do
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sleep 1
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done
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echo -e "${ORANGE} DEPRECATION WARNING: The script starting URSim was moved to the ur_client_library package. This script here does still work, but will be removed with ROS Jazzy. Please use `${URSIM_CMD}` to start URSim in future."
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$URSIM_CMD

‎ur_robot_driver/README.md‎

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**Custom script snippets** can be sent to the robot on a topic basis. By default, they will
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interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
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it is however possible to send them as secondary programs. See [UR
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documentation](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/secondary-program-17257/)
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documentation](https://www.universal-robots.com/articles/ur/programming/secondary-program/)
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on details.
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<br/>
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**Note to e-Series users:**

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