Add ROS2 documentation

docs/icub-ergocub_ros2/index.md

@@ -0,0 +1,64 @@
+# Using `iCub` and `ergoCub` with ROS 2
+
+!!! note
+    This documentation is dedicated to explain how to control `iCub` and `ergoCub` **real robots** using ROS 2, not the simulated models of those robots.
+
+!!! info
+    As the last supported **ROS 1** distribution (ROS Noetic Ninjemys) is reaching its End of Life (EOL) on May 2025, with the distro release [`v2024.11.1`](../sw_versioning_table/2024.11.1.md) ROS 1 support was deprecated.
+
+## Overwiew
+
+All the YARP [Network Wrapper Server (NWS) and Network Wrapper Client (NWC)](https://www.yarp.it/latest//group__nws__and__nwc__architecture.html) devices that use ROS 2 can be found under [`yarp-devices-ros2`](https://github.com/robotology/yarp-devices-ros2) repository.
+
+`yarp-devices-ros2` contains the devices and utilities for YARP-ROS 2 compatibility. The devices are in the form of NWS/NWC that read and/or write information from ROS 2 topics and make them available via the YARP API. Starting from the distro [`v2024.11.1`](../sw_versioning_table/2024.11.1.md), it can be compiled within the robotology-superbuild by enabling the `ROBOTOLOGY_USES_ROS2` CMake option .
+
+## Publishing `iCub/ergoCub`'s joints state: the `controlBoard_nws_ros2` module
+
+### Modules description
+
+`controlBoard_nws_ros2` is the controlBoard network wrapper server for ROS 2. As per the `controlBoard_nws_yarp`, this device can be used to publish the joint position information on ROS 2 topics instead of YARP ports. The device uses the [yarpDeviceParamParserGenerator](https://yarp.it/latest/group__yarpDeviceParamParserGenerator.html) and [here](https://yarp.it/latest/classControlBoard__nws__ros2__ParamsParser.html) there is the list of the required parameters.
+
+### Using `controlBoard_nws_ros2`
+
+The NWS/NWC for YARP and ROS 2 are organized into separate wrappers. In this way, it is possible to attach multiple wrappers to the same device, so a `controlBoard_nws_yarp` for YARP and a `controlBoard_nws_ros2` for ROS 2, and include them to the same configuration file used to launch the yarprobotinterface.
+
+#### ergoCub
+
+All ergoCub robots have the configuration files to enable this module under [robots-configuration](https://github.com/robotology/robots-configuration) repository. The way to activate them is to run the yarprobotinterface of the robot with the following option:
+
+```sh
+yarprobotinterface --enable_tags "(enable_ros2)"
+```
+
+#### iCub
+
+For iCub robots, instead, the module can be activated using an `xml` file, for example this `alljoints-mc_nws_ros2.xml`:
+
+```xml
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_nws_ros2" type="controlBoard_nws_ros2">
+    <param name="node_name"> icub_cb_node </param>
+    <param name="topic_name"> /joint_states </param>
+    <action phase="startup" level="15" type="attach">
+        <param name="device"> alljoints-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
+```
+
+!!! warning
+    Not all iCub configuration files have been modified to support ROS 2. If you didn't find those files within your robot name folder under `robots-configuration`, please don't hesitate to open an issue [here](https://github.com/robotology/robots-configuration/issues).
+
+With this kind of file, the positions of all the joints specified in the `alljoints-mc_remapper` are published on the `/joint_states` ROS 2 topic.
+
+More in particular, this file is meant to be used as part of the same `yarprobotinterface` with which you launch the robot. To include it among the devices that you launch with it, you should modify the `icub_all.xml` (or any file that is launched with your `yarprobotinterface` when you launch the robot) to include the line:
+
+```xml
+<xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />
+```
+
+## xcub-moveit2
+
+[`xcub-moveit2`](https://github.com/icub-tech-iit/xcub-moveit2) contains ROS 2 packages to control a YARP-based robot (iCub/ergoCub) with MoveIt2 platform. Check it out [here](https://github.com/icub-tech-iit/xcub-moveit2/blob/master/README.md) for more details.

docs/icub_sw.md

@@ -15,7 +15,7 @@
 - [`Standard Calibration Types`](./robot_calibration_types/standard_calibration_types.md)
 - [`iCub 3 Calibration Types`](./robot_calibration_types/icub3_calibration_types.md)
 - [`Configure IP on a setup for ETH boards`](./configure_static_ip/configure-static-ip.md)
-- [`Using iCub with ROS`](./icub_ros/index.md)
+- [`Using iCub or ergoCub with ROS 2`](./icub-ergocub_ros2/index.md)
 - [`iCub Force Control`](./icub_force_control/icub-force-control.md)
 - [`Sensor Interfaces`](./robot_sensors/index.md)
 - [`Tactile Sensors`](./tactile_sensors/index.md)

mkdocs.yml

@@ -301,7 +301,7 @@ nav:
         - Encoders and Joint limits (manual): icub_testing/encoders_manual.md
       - Configure IP on a setup for ETH boards:
         - Configure IP on a setup for ETH boards: configure_static_ip/configure-static-ip.md
-      - Using iCub with ROS: icub_ros/index.md
+      - Using iCub or ergoCub with ROS 2: icub-ergocub_ros2/index.md
       - iCub Force Control: icub_force_control/icub-force-control.md
       - Sensor interfaces:
         - Summary: robot_sensors/index.md