Update sphinx docs

Author: urfeex

my_robot_cell/doc/build_moveit_config.rst

@@ -129,7 +129,7 @@ First, we need to start a robot, simulated or real. If you start a real robot, m
 .. code-block:: bash
 
    # You can switch to real hardware if you prefer
-   ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+   ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 
 Second, we can start the move_group node by running the launch file the setup assistant created for us:

my_robot_cell/doc/start_ur_driver.rst

@@ -23,8 +23,8 @@ This URDF is very similar to the one we have already assembled. We simply need t
 
 .. literalinclude:: ../my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
     :language: xml
-    :start-at:   <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
-    :end-at:   <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
+    :start-at:   <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro"/>
+    :end-at:   <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro"/>
     :caption: my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
 
 
@@ -33,7 +33,7 @@ define the necessary arguments that need to be passed to the macro,
 .. literalinclude:: ../my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
     :language: xml
     :start-at: <xacro:arg name="robot_ip" default="0.0.0.0"/>
-    :end-at: <xacro:arg name="mock_sensor_commands" default="false" />
+    :end-at: <xacro:arg name="fake_sensor_commands" default="false" />
     :caption: my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
 
 
@@ -57,39 +57,12 @@ For now, we just copy the default one for the ur20.
    cp $(ros2 pkg prefix ur_description)/share/ur_description/config/ur20/default_kinematics.yaml \
      my_robot_cell_control/config/my_robot_calibration.yaml
 
-
-Create robot_state_publisher launchfile
----------------------------------------
-
-To use the custom controlled description, we need to generate a launchfile loading that description
-(Since it contains less / potentially different) arguments than the "default" one. In that
-launchfile we need to start a ``robot_state_publisher`` (RSP) node that will get the description as a
-parameter and redistribute it via the ``robot_description`` topic:
-
-.. literalinclude:: ../my_robot_cell_control/launch/rsp.launch.py
-    :language: py
-    :start-after: # Author: Felix Exner
-    :linenos:
-    :caption: my_robot_cell_control/launch/rsp.launch.py
-
-With this we could start our workcell using
-
-.. code-block:: bash
-
-    ros2 launch ur_robot_driver ur_control.launch.py \
-      description_launchfile:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/launch/rsp.launch.py \
-      use_mock_hardware:=true \
-      robot_ip:=123 \
-      ur_type:=ur20 \
-      rviz_config_file:=$(ros2 pkg prefix my_robot_cell_description)/share/my_robot_cell_description/rviz/urdf.rviz \
-      tf_prefix:=ur20_
-
 Create start_robot launchfile
 -----------------------------
 
-Since the command above is obviously not very convenient to start our robot, we wrap that into another
-launchfile that includes the ``ur_control.launch.py`` launchfile with the correct description
-launchfile and prefix:
+To launch a controlled robot with our custom description, we need to generate a launchfile. We
+include the ``ur_control.launch.py`` file from the driver and set its parameters to match our
+custom workcell.
 
 .. literalinclude:: ../my_robot_cell_control/launch/start_robot.launch.py
     :language: py
@@ -100,7 +73,7 @@ With that we can start the robot using
 
 .. code-block:: bash
 
-   ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+   ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 Testing everything
 ------------------
@@ -121,7 +94,7 @@ We can start the system in a mocked simulation
 .. code-block:: bash
 
     #start the driver with mocked hardware
-    ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+    ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 Or to use it with a real robot:
 

my_robot_cell/my_robot_cell_moveit_config/.setup_assistant

@@ -6,20 +6,5 @@ moveit_setup_assistant_config:
     relative_path: config/my_robot_cell.srdf
   package_settings:
     author_name: Felix Exner
-    author_email: [email protected]
-    generated_timestamp: 1713785068
-  control_xacro:
-    command:
-      - position
-    state:
-      - position
-      - velocity
-  modified_urdf:
-    xacros:
-      - control_xacro
-  control_xacro:
-    command:
-      - position
-    state:
-      - position
-      - velocity
+    author_email: [email protected]
+    generated_timestamp: 1742223443

my_robot_cell/my_robot_cell_moveit_config/CMakeLists.txt

@@ -5,7 +5,12 @@ find_package(ament_cmake REQUIRED)
 
 ament_package()
 
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
-  PATTERN "setup_assistant.launch" EXCLUDE)
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
+  install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    PATTERN "setup_assistant.launch" EXCLUDE)
+endif()
+
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

my_robot_cell/my_robot_cell_moveit_config/launch/move_group.launch.py

@@ -3,7 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder(
-        "my_robot_cell", package_name="my_robot_cell_moveit_config"
-    ).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
     return generate_move_group_launch(moveit_config)

my_robot_cell/my_robot_cell_moveit_config/launch/moveit_rviz.launch.py

@@ -3,7 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder(
-        "my_robot_cell", package_name="my_robot_cell_moveit_config"
-    ).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)

my_robot_cell/my_robot_cell_moveit_config/launch/setup_assistant.launch.py

@@ -3,7 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder(
-        "my_robot_cell", package_name="my_robot_cell_moveit_config"
-    ).to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
     return generate_setup_assistant_launch(moveit_config)

my_robot_cell/my_robot_cell_moveit_config/package.xml

@@ -6,15 +6,15 @@
   <description>
      An automatically generated package with all the configuration and launch files for using the my_robot_cell with the MoveIt Motion Planning Framework
   </description>
-  <maintainer email="[email protected]">Felix Exner</maintainer>
+  <maintainer email="[email protected]">Felix Exner</maintainer>
 
   <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit2</url>
 
-  <author email="[email protected]">Felix Exner</author>
+  <author email="[email protected]">Felix Exner</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -38,7 +38,6 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
-  <exec_depend>xacro</exec_depend>
 
 
   <export>