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Fix links #132

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Jul 24, 2023
Merged

Fix links #132

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28d6761
Fix link to demos repository
christophfroehlich Jul 21, 2023
03d5e76
Update link
christophfroehlich Jul 21, 2023
bbff32f
Fix target links
christophfroehlich Jul 21, 2023
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2 changes: 1 addition & 1 deletion doc/differences_to_ros1/differences_to_ros1.rst
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Expand Up @@ -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 <https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_hardware/ros2_control_demo_hardware.xml>`_.
#. Create .xml library description for the pluginlib, for example see `RRBotSystemPositionOnlyHardware <https://github.com/ros-controls/ros2_control_demos/blob/master/example_1/ros2_control_demo_example_1.xml>`_.


Controller Migration
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46 changes: 23 additions & 23 deletions doc/resources/resources.rst
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Expand Up @@ -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/
2 changes: 1 addition & 1 deletion doc/supported_robots/supported_robots.rst
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Expand Up @@ -38,4 +38,4 @@ Non robot-devices:

Mobile manipulators:

* `Hello Robot - Stretch (for simple simulation with MoveIt2) <https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_moveit_config/README.md>`_
* `Hello Robot - Stretch (for simple simulation with MoveIt2) <https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_moveit2/README.md>`_