Use branch name substitution for all links (#618)

(cherry picked from commit aece974) # Conflicts: # joint_trajectory_controller/doc/userdoc.rst
ros-controls · May 30, 2023 · 3a2f34e · 3a2f34e
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diff --git a/admittance_controller/doc/userdoc.rst b/admittance_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/admittance_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/doc/userdoc.rst
 
 .. _admittance_controller_userdoc:
 
@@ -18,8 +18,8 @@ Parameters
 ^^^^^^^^^^^
 
 The admittance controller's uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
-The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/master/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
-An example parameter file can be found in the `test folder of the controller <https://github.com/ros-controls/ros2_controllers/blob/master/admittance_controller/test/test_params.yaml>`_
+The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+An example parameter file can be found in the `test folder of the controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_
 
 
 Topics
@@ -44,14 +44,14 @@ The controller has ``position`` and ``velocity`` reference interfaces exported i
 States
 ^^^^^^^
 The state interfaces are defined with ``joints`` and ``state_interfaces`` parameters as follows: ``<joint>/<state_interface>``.
-Supported state interfaces are ``position``, ``velocity``, and ``acceleration`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
+Supported state interfaces are ``position``, ``velocity``, and ``acceleration`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
 If some interface is not provided, the last commanded interface will be used for calculation.
 
-For handling TCP wrenches `*Force Torque Sensor* semantic component  (from package *controller_interface*) <https://github.com/ros-controls/ros2_control/blob/master/controller_interface/include/semantic_components/force_torque_sensor.hpp>`_ is used.
+For handling TCP wrenches `*Force Torque Sensor* semantic component  (from package *controller_interface*) <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/force_torque_sensor.hpp>`_ is used.
 The interfaces have prefix ``ft_sensor.name``, building the interfaces: ``<sensor_name>/[force.x|force.y|force.z|torque.x|torque.y|torque.z]``.
 
 
 Commands
 ^^^^^^^^^
 The command interfaces are defined with ``joints`` and ``command_interfaces`` parameters as follows: ``<joint>/<command_interface>``.
-Supported state interfaces are ``position``, ``velocity``, and ``acceleration`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
+Supported state interfaces are ``position``, ``velocity``, and ``acceleration`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
diff --git a/diff_drive_controller/doc/userdoc.rst b/diff_drive_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/diff_drive_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/diff_drive_controller/doc/userdoc.rst
 
 .. _diff_drive_controller_userdoc:
 
@@ -72,9 +72,9 @@ Services
 Parameters
 ------------
 
-Check `parameter definition file for details <https://github.com/ros-controls/ros2_controllers/blob/master/diff_drive_controller/src/diff_drive_controller_parameter.yaml>`_.
+Check `parameter definition file for details <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/diff_drive_controller/src/diff_drive_controller_parameter.yaml>`_.
 
-Note that the documentation on parameters for joint limits can be found in `their header file <https://github.com/ros-controls/ros2_control/blob/master/joint_limits/include/joint_limits/joint_limits_rosparam.hpp#L56-L75>`_.
+Note that the documentation on parameters for joint limits can be found in `their header file <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/joint_limits/include/joint_limits/joint_limits_rosparam.hpp#L56-L75>`_.
 Those parameters are:
 
 linear.x [JointLimits structure]

diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/doc/controllers_index.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/controllers_index.rst
 
 .. _controllers:
 
@@ -22,7 +22,7 @@ The controllers' namespaces are commanding the following command interface types
   - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
   - ...
 
-.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
 
 
 

diff --git a/doc/writing_new_controller.rst b/doc/writing_new_controller.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/doc/writing_new_controller.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/writing_new_controller.rst
 
 .. _writing_new_controllers:
 

diff --git a/effort_controllers/doc/userdoc.rst b/effort_controllers/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/effort_controllers/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/effort_controllers/doc/userdoc.rst
 
 .. _effort_controllers_userdoc:
 

diff --git a/force_torque_sensor_broadcaster/doc/userdoc.rst b/force_torque_sensor_broadcaster/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/force_torque_sensor_broadcaster/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster/doc/userdoc.rst
 
 .. _force_torque_sensor_broadcaster_userdoc:
 

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/forward_command_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/forward_command_controller/doc/userdoc.rst
 
 .. _forward_command_controller_userdoc:
 

diff --git a/imu_sensor_broadcaster/doc/userdoc.rst b/imu_sensor_broadcaster/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/imu_sensor_broadcaster/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/imu_sensor_broadcaster/doc/userdoc.rst
 
 .. _imu_sensor_broadcaster_userdoc:
 

diff --git a/joint_state_broadcaster/doc/userdoc.rst b/joint_state_broadcaster/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/joint_state_broadcaster/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_state_broadcaster/doc/userdoc.rst
 
 .. _joint_state_broadcaster_userdoc:
 

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/joint_trajectory_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_trajectory_controller/doc/userdoc.rst
 
 .. _joint_trajectory_controller_userdoc:
 
@@ -210,8 +210,83 @@ ROS2 interface of the controller
 ~/controller_state (output topic) [control_msgs::msg::JointTrajectoryControllerState]
   Topic publishing internal states.
 
+<<<<<<< HEAD
 ~/follow_joint_trajectory (action server) [control_msgs::action::FollowJointTrajectory]
   Action server for commanding the controller.
+=======
+.. _ROS 2 interface:
+
+Description of controller's interfaces
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+References
+,,,,,,,,,,,,,,,,,,
+
+(the controller is not yet implemented as chainable controller)
+
+States
+,,,,,,,,,,,,,,,,,,
+
+The state interfaces are defined with ``joints`` and ``state_interfaces`` parameters as follows: ``<joint>/<state_interface>``.
+Supported state interfaces are ``position``, ``velocity``, ``acceleration`` and ``effort`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
+
+Legal combinations of state interfaces are:
+
+* ``position``
+* ``position`` and ``velocity``
+* ``position``, ``velocity`` and ``acceleration``
+* ``effort``
+
+Commands
+,,,,,,,,,
+
+There are two mechanisms for sending trajectories to the controller:
+
+* via action, see :ref:`actions <Actions>`
+* via topic, see :ref:`subscriber <Subscriber>`
+
+Both use the ``trajectory_msgs/JointTrajectory`` message to specify trajectories, and require specifying values for all the controller joints (as opposed to only a subset) if ``allow_partial_joints_goal`` is not set to ``True``.
+
+.. _Actions:
+
+Actions  [#f1]_
+,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+
+<controller_name>/follow_joint_trajectory [control_msgs::action::FollowJointTrajectory]
+  Action server for commanding the controller
+
+
+The primary way to send trajectories is through the action interface, and should be favored when execution monitoring is desired.
+Action goals allow to specify not only the trajectory to execute, but also (optionally) path and goal tolerances.
+When no tolerances are specified, the defaults given in the parameter interface are used (see :ref:`parameters`).
+If tolerances are violated during trajectory execution, the action goal is aborted, the client is notified, and the current position is held.
+
+.. _Subscriber:
+
+Subscriber [#f1]_
+,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+
+<controller_name>/joint_trajectory [trajectory_msgs::msg::JointTrajectory]
+  Topic for commanding the controller
+
+The topic interface is a fire-and-forget alternative. Use this interface if you don't care about execution monitoring.
+The controller's path and goal tolerance specification is not used in this case, as there is no mechanism to notify the sender about tolerance violations.
+Note that although some degree of monitoring is available through the ``~/query_state`` service and ``~/state`` topic it is much more cumbersome to realize than with the action interface.
+
+
+Publishers
+,,,,,,,,,,,
+
+<controller_name>/controller_state [control_msgs::msg::JointTrajectoryControllerState]
+  Topic publishing internal states with the update-rate of the controller manager
+
+
+Services
+,,,,,,,,,,,
+
+<controller_name>/query_state [control_msgs::srv::QueryTrajectoryState]
+  Query controller state at any future time
+>>>>>>> aece974 (Use branch name substitution for all links (#618))
 
 
 Specialized versions of JointTrajectoryController (TBD in ...)

diff --git a/position_controllers/doc/userdoc.rst b/position_controllers/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/position_controllers/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/position_controllers/doc/userdoc.rst
 
 .. _position_controllers_userdoc:
 

diff --git a/tricycle_controller/doc/userdoc.rst b/tricycle_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/tricycle_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/tricycle_controller/doc/userdoc.rst
 
 .. _tricycle_controller_userdoc:
 

diff --git a/velocity_controllers/doc/userdoc.rst b/velocity_controllers/doc/userdoc.rst
@@ -1,4 +1,4 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/|github_branch|/velocity_controllers/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/velocity_controllers/doc/userdoc.rst
 
 .. _velocity_controllers_userdoc: