[CI] Check links using lychee instead of a custom script (#1355)

(cherry picked from commit d38be8e)

# Conflicts:
#	.github/workflows/check_links.yml
#	ur_robot_driver/README.md

Author: urfeex

.github/helpers/check_urls.sh

@@ -11,9 +11,39 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+<<<<<<< HEAD
       - 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 kernel\.org\/pub\/linux\/kernel"
+=======
+      - name: Restore lychee cache
+        id: restore-cache
+        uses: actions/cache/restore@v4
+        with:
+          path: .lycheecache
+          key: cache-lychee-${{ github.run_id }}-${{ github.run_attempt }}
+          restore-keys: cache-lychee-
+      - name: Link Checker
+        id: lychee
+        uses: lycheeverse/lychee-action@v2
+        with:
+          fail: true
+          args: >
+            --verbose
+            --no-progress
+            --cache
+            --cache-exclude-status 429
+            --max-cache-age 2d
+            --exclude '^http://192\.168\.56\.101'
+            --max-concurrency 1
+            './**/*.md' './**/*.html' './**/*.rst' './**/*.cpp' './**/*.h' './**/*.py'
+      - name: Save lychee cache
+        uses: actions/cache/save@v4
+        if: always()
+        with:
+          path: .lycheecache
+          key: ${{ steps.restore-cache.outputs.cache-primary-key }}
+>>>>>>> d38be8e ([CI] Check links using lychee instead of a custom script (#1355))

.github/workflows/check_links.yml

@@ -12,3 +12,4 @@ docs_output
 docs_build
 cross_reference
 ur_robot_driver/doc/generated
+.lycheecache

.gitignore

@@ -4,8 +4,11 @@ This package contains the actual driver for UR robots. It is part of the *univer
 repository and requires other packages from that repository. Also, see the [main repository's
 README](../README.md) for information on how to install and startup this driver.
 
+<<<<<<< HEAD
 ## ROS-API
 The ROS API is documented in a [standalone document](doc/ROS_INTERFACE.md).
+=======
+>>>>>>> d38be8e ([CI] Check links using lychee instead of a custom script (#1355))
 
 ## Technical details
 The following image shows a very coarse overview of the driver's architecture.
@@ -41,7 +44,11 @@ The robot won't accept script code from a remote source unless the robot is put
 *remote_control-mode*. However, if put into *remote_control-mode*, the program containing the
 **External Control** program node can't be started from the panel.
 For this purpose, please use the **dashboard** services to load, start and stop the main program
+<<<<<<< HEAD
 running on the robot. See the [ROS-API documentation](doc/ROS_INTERFACE.md) for details on the
+=======
+running on the robot. See the [Dashboard client documentation](doc/dashboard_client.rst) for details on the
+>>>>>>> d38be8e ([CI] Check links using lychee instead of a custom script (#1355))
 dashboard services.
 
 For using the **tool communication interface** on e-Series robots, a `socat` script is prepared to
@@ -55,6 +62,7 @@ recommend using the controllers from the `ur_controllers` package. See it's
 available using the controllers from `ur_controllers`**
 
 ## A note about modes
+<<<<<<< HEAD
 The term **mode** is used in different meanings inside this driver.
 
 ### Remote control mode
@@ -90,7 +98,15 @@ execution without the teach pendant. The **headless** mode might be removed in f
 
 **Note for the e-Series:** In order to leverage the **headless** mode on the e-Series the robot must
 be in **remote_control_mode** as explained above.
+=======
+The term **mode** is used in different meanings inside this driver. See [Operation
+Modes](doc/operation_modes.rst) for details.
+>>>>>>> d38be8e ([CI] Check links using lychee instead of a custom script (#1355))
 
 ## controller_stopper
-A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to `false`, all running controllers except a set of predefined *consistent_controllers* gets stopped. If status returns to `true` the stopped controllers are restarted.
-This is done by Subscribing to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.
+A small helper node that stops and restarts ROS controllers based on a boolean status topic. When
+the status goes to `false`, all running controllers except a set of predefined
+*consistent_controllers* gets stopped. If status returns to `true` the stopped controllers are
+restarted. This is done by Subscribing to a robot's running state topic. Ideally this topic is
+latched and only publishes on changes. However, this node only reacts on state changes, so a state
+published each cycle would also be fine.