Fix doc links

.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 kernel\.org\/pub\/linux\/kernel"

README.md

@@ -97,23 +97,23 @@ For getting started, you'll basically need three steps:
    ```bash
    sudo apt-get install ros-humble-ur
    ```
-   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.
+   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.
 
 2. **Start & Setup the robot**. Once you've installed the driver, [setup the
-   robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/robot_setup.html)
+   robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/installation/robot_setup.html)
    and [create a program for external
-   control](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/install_urcap_e_series.html).
+   control](https://docs.ros.org/en/ros2_packages/humble/api/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/humble/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
+   [here](https://docs.ros.org/en/ros2_packages/humble/api/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/humble/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
+   robot](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.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/humble/api/ur_robot_driver/usage.html) for
+   documentation](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html) for
    details.
 
    ```bash
@@ -122,7 +122,7 @@ 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/humble/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.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**.
 
 
 ## MoveIt! support
@@ -135,8 +135,8 @@ 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/humble/api/ur_robot_driver/usage.html#using-moveit)
-of the [Usage guide](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html)
+section](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html#using-moveit)
+of the [Usage guide](https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/doc/usage.html)
 for details.
 
 

ur_bringup/scripts/start_ursim.sh

@@ -28,102 +28,16 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-PERSISTENT_BASE="${HOME}/.ursim"
-URCAP_VERSION="1.0.5"
 
 echo -e "\033[0;31mDEPRECATION WARNING: " \
     "Launch files from the ur_bringup package are deprecated and will be removed from Iron " \
     "Irwini on. Please use the same launch files from the ur_robot_driver package." \
     "\033[0m"
 
-help()
-{
-  # Display Help
-  echo "Starts URSim inside a docker container"
-  echo
-  echo "Syntax: `basename "$0"` [-m|s|h]"
-  echo "options:"
-  echo "    -m <model>     Robot model. One of [ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e]. Defaults to ur5e."
-  echo "    -h             Print this Help."
-  echo
-}
+ORANGE='\033[0;33m'
+NC='\033[0m' # No Color
 
-ROBOT_MODEL=UR5
-ROBOT_SERIES=e-series
+URSIM_CMD="ros2 run ur_client_library start_ursim.sh"
 
-validate_model()
-{
-  case $ROBOT_MODEL in
-    ur3|ur5|ur10)
-      ROBOT_MODEL=${ROBOT_MODEL^^}
-      ROBOT_SERIES=cb3
-      ;;
-    ur3e|ur5e|ur10e|ur16e)
-      ROBOT_MODEL=${ROBOT_MODEL^^}
-      ROBOT_MODEL=$(echo ${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))})
-      ROBOT_SERIES=e-series
-      ;;
-    *)
-      echo "Not a valid robot model: $ROBOT_MODEL"
-      exit
-      ;;
-  esac
-}
-
-
-while getopts ":hm:s:" option; do
-  case $option in
-    h) # display Help
-      help
-      exit;;
-    m) # robot model
-      ROBOT_MODEL=${OPTARG}
-      validate_model
-      ;;
-    \?) # invalid option
-      echo "Error: Invalid option"
-      help
-      exit;;
-  esac
-done
-
-URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
-PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
-
-# Create local storage for programs and URCaps
-mkdir -p "${URCAP_STORAGE}"
-mkdir -p "${PROGRAM_STORAGE}"
-
-# Download external_control URCap
-if [[ ! -f "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" ]]; then
-  curl -L -o "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" \
-    "https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/download/v${URCAP_VERSION}/externalcontrol-${URCAP_VERSION}.jar"
-fi
-
-# Check whether network already exists
-docker network inspect ursim_net > /dev/null
-if [ $? -eq 0 ]; then
-  echo "ursim_net already exists"
-else
-  echo "Creating ursim_net"
-  docker network create --subnet=192.168.56.0/24 ursim_net
-fi
-
-# run docker container
-docker run --rm -d --net ursim_net --ip 192.168.56.101\
-  -v "${URCAP_STORAGE}":/urcaps \
-  -v "${PROGRAM_STORAGE}":/ursim/programs \
-  -e ROBOT_MODEL="${ROBOT_MODEL}" \
-  --name ursim \
-  universalrobots/ursim_${ROBOT_SERIES} || exit
-
-trap "echo killing; docker container kill ursim; exit" SIGINT SIGTERM
-
-echo "Docker URSim is running"
-printf "\nTo access Polyscope, open the following URL in a web browser.\n\thttp://192.168.56.101:6080/vnc.html\n\n"
-echo "To exit, press CTRL+C"
-
-while :
-do
-  sleep 1
-done
+echo -e "${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 `${URSIM_CMD}` to start URSim in future."
+$URSIM_CMD

ur_robot_driver/README.md

@@ -33,7 +33,7 @@ request.
 **Custom script snippets** can be sent to the robot on a topic basis. By default, they will
 interrupt other programs (such as the one controlling the robot). For a certain subset of functions,
 it is however possible to send them as secondary programs. See [UR
-documentation](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/secondary-program-17257/)
+documentation](https://www.universal-robots.com/articles/ur/programming/secondary-program/)
 on details.
 <br/>
 **Note to e-Series users:**