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christophfroehlichchristophfroehlich
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Fix several links (#645)
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‎example_13/doc/userdoc.rst

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@@ -462,7 +462,10 @@ Files used for this demos
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- URDF file: `three_robots.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/urdf/three_robots.urdf.xacro>`__
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+ Description: `threedofbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/r3bot/urdf/threedofbot_description.urdf.xacro>`__
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+ ``ros2_control`` tag: `three_robots.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/three_robots.ros2_control.xacro>`__
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+ ``ros2_control`` tag:
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+ `threedofbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/threedofbot.ros2_control.xacro>`__
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+ `rrbot_system_position_only.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro>`__
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+ `rrbot_system_with_sensor.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro>`__
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- RViz configuration: `three_robots.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/rviz/three_robots.rviz>`__
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Controllers from this demo

‎example_15/doc/userdoc.rst

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Scenario: Using ros2_control within a local namespace
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-----------------------------------------------------
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* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
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* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
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* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
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* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
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* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
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* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
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* Test nodes goals configuration:
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+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
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+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
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* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
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.. note::
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When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, i.e., ``-c /rrbot/controller_manager``.
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ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
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Scenario: Using multiple controller managers on the same machine
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----------------------------------------------------------------
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Files used for this demo:
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* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
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* Controllers yaml:
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- `multi_controller_manager_generic_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_generic_controllers.yaml>`__
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* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
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* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
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* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
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* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
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* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
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* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
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* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
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* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
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* Test nodes goals configuration:
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+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
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+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
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+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml>`__
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+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml>`__
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* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
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* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
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Scenario: Using multiple controller managers on the same machine
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----------------------------------------------------------------
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.. note::
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ros2 launch ros2_control_demo_example_15 test_multi_controller_manager_joint_trajectory_controller.launch.py
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Files used for this demo:
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* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
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* Controllers yaml:
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- `multi_controller_manager_rrbot_generic_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_generic_controllers.yaml>`__
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* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
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* Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
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* ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
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* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
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* Test nodes goals configuration:
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+ `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_forward_position_publisher.yaml>`__
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+ `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml>`__
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* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
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Controllers from this demo
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--------------------------
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* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__

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