From 28d676109c1deb9a1c00e8abf1ace09038e13376 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 21 Jul 2023 12:42:47 +0000 Subject: [PATCH 1/3] Fix link to demos repository --- doc/differences_to_ros1/differences_to_ros1.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/differences_to_ros1/differences_to_ros1.rst b/doc/differences_to_ros1/differences_to_ros1.rst index 224be1dc999..a36be34b6f6 100644 --- a/doc/differences_to_ros1/differences_to_ros1.rst +++ b/doc/differences_to_ros1/differences_to_ros1.rst @@ -55,7 +55,7 @@ RobotHardware to Components #. Implement ``read()`` and ``write()`` methods to exchange commands with the hardware. This method is equivalent to those from ``RobotHW``-class in ROS 1. #. Do not forget the ``PLUGINLIB_EXPORT_CLASS`` macro at the end of the .cpp file. -#. Create .xml library description for the pluginlib, for example see `RRBotSystemPositionOnlyHardware `_. +#. Create .xml library description for the pluginlib, for example see `RRBotSystemPositionOnlyHardware `_. Controller Migration From 03d5e76af173288b2d2bc0b1c9d7d26e406a05a7 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 21 Jul 2023 12:45:02 +0000 Subject: [PATCH 2/3] Update link --- doc/supported_robots/supported_robots.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/supported_robots/supported_robots.rst b/doc/supported_robots/supported_robots.rst index c2555ca5262..ac362586f8f 100644 --- a/doc/supported_robots/supported_robots.rst +++ b/doc/supported_robots/supported_robots.rst @@ -38,4 +38,4 @@ Non robot-devices: Mobile manipulators: -* `Hello Robot - Stretch (for simple simulation with MoveIt2) `_ +* `Hello Robot - Stretch (for simple simulation with MoveIt2) `_ From bbff32f558e9252cc1c44e0747572a53ffe2e021 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 21 Jul 2023 12:58:29 +0000 Subject: [PATCH 3/3] Fix target links --- doc/resources/resources.rst | 46 ++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/doc/resources/resources.rst b/doc/resources/resources.rst index 8e271f5961e..a730c873729 100644 --- a/doc/resources/resources.rst +++ b/doc/resources/resources.rst @@ -189,99 +189,99 @@ Generated images for the presentation which can be useful also for the documenta Overview of ros2_control .. image:: images/ros2_control_overview.png - :target: ../_images/ros2_control_overview.png + :target: ../../_images/ros2_control_overview.png ros2_control robot integration with MoveIt2 .. image:: images/ros2_control_robot_integration_with_moveit2.png - :target: ../_images/jros2_control_robot_integration_with_moveit2.png + :target: ../../_images/jros2_control_robot_integration_with_moveit2.png Architecture of complex controller and semantic components: .. image:: images/complex_controllers_and_semantic_components.png - :target: ../_images/jcomplex_controllers_and_semantic_components.png + :target: ../../_images/jcomplex_controllers_and_semantic_components.png Architecture of command and state interfaces: .. image:: images/command_and_state_interfaces.png - :target: ../_images/jcommand_and_state_interfaces.png + :target: ../../_images/jcommand_and_state_interfaces.png Lifecycle of hardware interfaces: .. image:: images/hardware_interface_lifecycle.png - :target: ../_images/jhardware_interface_lifecycle.png + :target: ../../_images/jhardware_interface_lifecycle.png ros2_control integration with MoveIt2 .. image:: images/ros2_control_robot_integration_with_moveit2.png - :target: ../_images/jros2_control_robot_integration_with_moveit2.png + :target: ../../_images/jros2_control_robot_integration_with_moveit2.png Controllers architecture with chained controllers - admittance controller example .. image:: images/ros2_control_mobile_manipulator_control_arch_admittance_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_admittance_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_admittance_chaining.png Controllers architecture with chained controllers - admittance controller example (URDF) .. image:: images/ros2_control_mobile_manipulator_controllers_admittance_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_controllers_admittance_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_controllers_admittance_chaining.png Controllers architecture without chained controllers - admittance controller example .. image:: images/ros2_control_mobile_manipulator_control_arch_admittance_without_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_admittance_without_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_admittance_without_chaining.png Controllers architecture with chained controllers - mobile base controller example .. image:: images/ros2_control_mobile_manipulator_control_arch_base_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_base_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_base_chaining.png Controllers architecture with chained controllers - mobile base controller example (URDF) .. image:: images/ros2_control_mobile_manipulator_controllers_base_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_controllers_base_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_controllers_base_chaining.png Controllers architecture without chained controllers - admittance controller example .. image:: images/ros2_control_mobile_manipulator_control_arch_base_without_chaining.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_base_without_chaining.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_base_without_chaining.png Controllers architecture - overview .. image:: images/ros2_control_mobile_manipulator_control_arch_convoluted_controllers.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_convoluted_controllers.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_convoluted_controllers.png Controllers architecture - URDF .. image:: images/ros2_control_mobile_manipulator_controllers_convoluted_controllers.png - :target: ../_images/jros2_control_mobile_manipulator_controllers_convoluted_controllers.png + :target: ../../_images/jros2_control_mobile_manipulator_controllers_convoluted_controllers.png Hardware architecture - independent communication to the hardware (modular hardware) .. image:: images/ros2_control_mobile_manipulator_control_arch_independent_hardware.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware.png Hardware architecture - independent communication to the hardware (modular hardware) (URDF) .. image:: images/ros2_control_mobile_manipulator_control_arch_independent_hardware_urdf.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware_urdf.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_independent_hardware_urdf.png Hardware architecture - gripper communication through Arm .. image:: images/ros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms.png Hardware architecture - gripper communication through Arm (URDF) .. image:: images/ros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms_urdf.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms_urdf.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_gripper_through_arm_comms_urdf.png Hardware architecture - monolitic communication to hardware .. image:: images/ros2_control_mobile_manipulator_control_arch_monolitic_hardware.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware.png Hardware architecture - monolitic communication to hardware (URDF) .. image:: images/ros2_control_mobile_manipulator_control_arch_monolitic_hardware_urdf.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware_urdf.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_monolitic_hardware_urdf.png Hardware architecture - multiple hardware in one controller manager .. image:: images/ros2_control_mobile_manipulator_control_arch_multi_robots_in_one_controller_manager.png - :target: ../_images/jros2_control_mobile_manipulator_control_arch_multi_robots_in_one_controller_manager.png + :target: ../../_images/jros2_control_mobile_manipulator_control_arch_multi_robots_in_one_controller_manager.png Example files - ros2_control - "Controlko" mobile manipulator .. image:: images/ros2_control_mobile_manipulator.png - :target: ../_images/jros2_control_mobile_manipulator.png + :target: ../../_images/jros2_control_mobile_manipulator.png Example files - ros2_control - "Controlko" mobile manipulator (URDF) .. image:: images/ros2_control_mobile_manipulator_controllers.png - :target: ../_images/jros2_control_mobile_manipulator_controllers.png + :target: ../../_images/jros2_control_mobile_manipulator_controllers.png .. |CC-BY| image:: https://i.creativecommons.org/l/by/4.0/88x31.png .. _CC-BY: http://creativecommons.org/licenses/by/4.0/