Merge branch 'UniversalRobots:main' into dual_arm_tutorials

Author: ShahhhVihaan

.github/workflows/sphinx.yml

@@ -1,6 +1,10 @@
 ---
 name: "Pull Request Docs Check"
-on: [pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - main
 
 jobs:
   docs:
@@ -10,13 +14,13 @@ jobs:
         uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
           cache: 'pip'
       - name: Install Python dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install --upgrade --requirement ur_documentation/requirements.txt
+          pip install --upgrade --requirement requirements.txt
         shell: bash
       - name: Build documentation using sphinx
         run: |
-          TZ=UTC sphinx-build ur_documentation/docs/source _build
+          TZ=UTC sphinx-build --fail-on-warning --keep-going . _build

README.md

@@ -3,8 +3,11 @@ This package contains tutorials around the ROS 2 packages for Universal Robots.
 
 ## Getting started
 To use the tutorials from this repository, please make sure to [install ROS
-2](https://docs.ros.org/en/rolling/Installation.html) on your system. With that, please create a
-workspace, clone this repo into the workspace, install the dependencies and build the workspace.
+2](https://docs.ros.org/en/rolling/Installation.html) on your system. Currently, only ROS Jazzy and
+Rolling are supported.
+
+With that, please create a workspace, clone this repo into the workspace, install the dependencies
+and build the workspace.
 
 1. Create a colcon workspace:
    ```

conf.py

@@ -0,0 +1,216 @@
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = "Universal Robots ROS 2 Tutorials"
+copyright = "2024, Universal Robots A/S"
+author = "Felix Exner"
+
+# The short X.Y version
+version = ""
+# The full version, including alpha/beta/rc tags
+release = "0.1"
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx_copybutton",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.todo",
+    "sphinx_rtd_theme",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+# templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "tutorial_index"
+numfig = True
+
+ros_distro = "rolling"
+distro_title = "Rolling"
+distro_title_full = "Rolling Ridley"
+repos_file_branch = "main"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = "en"
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = [
+    "_build",
+    "Thumbs.db",
+    ".DS_Store",
+    "**/CHANGELOG.rst",
+    "**/README.rst",
+    "**/.work",  # act temp files
+    "**/LICENSE.rst",
+    "venv",  # local virtualenv
+]
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+# html_static_path = ["_static"]
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "ur_documentationdoc"
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (
+        master_doc,
+        "ur_tutorials.tex",
+        "ur\\_tutorials Documentation",
+        "Felix Exner",
+        "manual",
+    ),
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [(master_doc, "ur_tutorials", "ur_tutorials Documentation", [author], 1)]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (
+        master_doc,
+        "ur_tutorials",
+        "ur_tutorials Documentation",
+        author,
+        "ur_tutorials",
+        "Tutorials around Universal Robot's ROS 2 packages",
+        "ROS 2",
+    ),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ["search.html"]
+
+
+# -- Extension configuration -------------------------------------------------
+copybutton_exclude = ".linenos, .gp, .go"
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
+
+html_context = {
+    "display_github": True,
+    "github_user": "UniversalRobots",
+    "github_repo": "Universal_Robots_ROS2_Tutorials",
+    "github_version": repos_file_branch + "/",
+    "conf_py_path": "/",
+    "source_suffix": source_suffix,
+}
+
+github_url = "https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials"

my_robot_cell/doc/assemble_urdf.rst

@@ -2,7 +2,10 @@ Assembling the URDF
 ===================
 
 The `ur_description <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description>`_ package provides `macro files <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/rolling/urdf/ur_macro.xacro>`_ to generate an instance of a Universal Robots arm.
-We'll use this to create a custom workcell with a ur20 inside:
+We'll use this to create a custom workcell with a ur20 inside. In this section we will only go into
+detail about the URDF / xacro files, not the complete package structure. Please see the
+`description package source code
+<https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/blob/main/my_robot_cell/my_robot_cell_description>`_ for all other files assembling the description package.
 
 Workcell description
 --------------------

my_robot_cell/doc/build_moveit_config.rst

@@ -6,7 +6,7 @@ At this point, you should be able to run the ``ur_robot_driver`` for your custom
 Now, we are only one last step away from actually planning and executing trajectories.
 
 To utilize MoveIt! 2 for this purpose, which will handle trajectory planning for us, we need to set up a MoveIt! configuration package.
-To create such a **MoveIt! configuration package**, MoveIt! provides a very useful Setup Assistant.
+To create such a MoveIt! `configuration package <https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/main/my_robot_cell/my_robot_cell_moveit_config>`_, MoveIt! provides a very useful Setup Assistant.
 
 Setup Assistant
 ---------------

my_robot_cell/doc/index.rst

@@ -4,8 +4,12 @@
 Custom workcell
 ================
 
-Example about integrating an UR arm into a custom workspace.
-We will build a custom workcell description, start the driver and create a MoveIt config to enable trajectory plannin with MoveIt.
+Example about integrating an UR arm into a custom workspace. We will build a custom workcell
+description, start the driver and create a MoveIt config to enable trajectory planning with MoveIt.
+
+Please see the `package source code
+<https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/main/my_robot_cell>`_ for
+all files relevant for this example.
 
 .. toctree::
    :maxdepth: 4

my_robot_cell/doc/start_ur_driver.rst

@@ -6,7 +6,7 @@ In the last chapter we created a custom scene description containing our robot.
 that description usable to ``ros2_control`` and hence the ``ur_robot_driver``, we need to add
 control information. We will also add a custom launchfile to startup our demonstrator.
 
-We will generate a new package called ``my_robot_cell_control`` for that purpose.
+We will generate a new package called `my_robot_cell_control <https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/main/my_robot_cell/my_robot_cell_control>`_ for that purpose.
 
 
 Create a description with ros2_control tag

requirements.txt

@@ -0,0 +1,3 @@
+sphinx
+sphinx_rtd_theme
+sphinx-copybutton

doc/tutorial_index.rst renamed to tutorial_index.rst

@@ -11,4 +11,4 @@ Example tutorials
 .. toctree::
    :titlesonly:
 
-   ../my_robot_cell/doc/index.rst
+   my_robot_cell/doc/index.rst