Merge branch 'rolling' into jazzy_release

.github/dependabot.yml

@@ -24,4 +24,4 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
-    target-branch: "iron"
+    target-branch: "jazzy"

.github/workflows/pr-stats.yml

@@ -44,7 +44,7 @@ jobs:
         key: reviewer-stats-${{ github.run_id }}
         path: ~/reviews
     - name: Upload Artifacts
-      uses: actions/upload-artifact@v4.3.3
+      uses: actions/upload-artifact@v4.4.3
       with:
         name: pr-stats
         path: ~/reviews

.github/workflows/sphinx-check-links.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        BRANCH: [humble, iron, jazzy, rolling]
+        BRANCH: [humble, jazzy, rolling]
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/sphinx-check-page-multiversion.yml

@@ -9,7 +9,6 @@ on:
         type: choice
         options:
         - humble
-        - iron
         - jazzy
         - rolling
   pull_request:

.github/workflows/sphinx-check-warnings.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        BRANCH: [humble, iron, jazzy, rolling]
+        BRANCH: [humble, jazzy, rolling]
     steps:
     - uses: actions/checkout@v4
       with:

README.md

@@ -1,8 +1,8 @@
 # Status
 
 [![Build & Deploy Page](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-make-page.yml/badge.svg)](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-make-page.yml)
-[![Broken Links](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-links.yml/badge.svg?branch=master)](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-links.yml)
-[![Sphinx Warnings](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-warnings.yml/badge.svg?branch=master)](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-warnings.yml)
+[![Broken Links](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-links.yml/badge.svg?branch=rolling)](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-links.yml)
+[![Sphinx Warnings](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-warnings.yml/badge.svg?branch=rolling)](https://github.com/ros-controls/control.ros.org/actions/workflows/sphinx-check-warnings.yml)
 
 # control.ros.org
 https://control.ros.org/

conf.py

@@ -172,6 +172,14 @@
 
 github_url = "https://github.com/ros-controls/control.ros.org"
 
+# -- linkchecker options -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#filtering
+linkcheck_anchors_ignore_for_url = [
+    'https://github.com/',
+    'https://index.ros.org/'
+    ]
+linkcheck_ignore = [r'https://gazebosim.org/home']
+
 # -- Options for HTMLHelp output ---------------------------------------------
 
 # Output file base name for HTML help builder.
@@ -206,7 +214,7 @@
 smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(foxy|galactic|humble|iron|jazzy).*$"
 smv_remote_whitelist = r"^(origin)$"
 smv_latest_version = "jazzy"
-smv_eol_versions = ["foxy", "galactic"]
+smv_eol_versions = ["foxy", "galactic", "iron"]
 
 distro_full_names = {
     "foxy": "Foxy Fitzroy",

doc/acknowledgements/acknowledgements.rst

@@ -76,6 +76,19 @@ Companies and Institutions
 --------------------------
 The project has received major contributions from the following companies and institutions.
 
+|stoglroboticslogo|
+
+.. |stoglroboticslogo| image:: images/stoglroboticslogo.png
+    :width: 300
+    :alt: "Stogl Robotics Consulting"
+
+|aitlogo|
+
+.. |aitlogo| image:: images/ait_logo.jpg
+    :width: 300
+    :alt: "Austrian Institute of Technology"
+
+
 |palroboticslogo|
 
 .. |palroboticslogo| image:: images/palroboticslogo.png
@@ -88,12 +101,6 @@ The project has received major contributions from the following companies and in
     :width: 300
     :alt: "PickNik Robotics"
 
-|stoglroboticslogo|
-
-.. |stoglroboticslogo| image:: images/stoglroboticslogo.png
-    :width: 300
-    :alt: "Stogl Robotics Consulting"
-
 |rosin_ack_logo_wide|
 
 Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.

doc/getting_started/getting_started.rst

@@ -15,19 +15,16 @@ To use it, you have to install ``ros-{DISTRO}-ros2-control`` and ``ros-{DISTRO}-
 Building from Source
 ---------------------------
 
-The rolling branch is compatible with both Humble and Iron ROS distributions. You can find more information about this compatibility on the respective `Humble <https://control.ros.org/humble/doc/getting_started/getting_started.html#building-from-source>`__, `Iron <https://control.ros.org/iron/doc/getting_started/getting_started.html#building-from-source>`__, and `Jazzy <https://control.ros.org/jazzy/doc/getting_started/getting_started.html#building-from-source>`__ versions of this page.
+The rolling branch is compatible with both Humble and Jazzy ROS distributions. You can find more information about this compatibility on the respective `Humble <https://control.ros.org/humble/doc/getting_started/getting_started.html#building-from-source>`__ and `Jazzy <https://control.ros.org/jazzy/doc/getting_started/getting_started.html#building-from-source>`__ versions of this page.
 
 .. raw:: html
 
     <a href="https://github.com/ros-controls/ros2_control_ci/actions/workflows/{DISTRO}-binary-build.yml">
         <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/{DISTRO}-binary-build.yml/badge.svg" alt="{DISTRO} Binary Build"/></a></br>
-    <a href="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml">
-        <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg" alt="Rolling Compatibility iron"/></a></br>
     <a href="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml">
-        <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg" alt="Rolling Compatibility jazzy"/></a></br>
-
+        <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg" alt="Rolling Compatibility Jazzy"/></a>
     <a href="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml">
-        <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg" alt="Rolling Compatibility humble"/></a>
+        <img src="https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg" alt="Rolling Compatibility Humble"/></a>
 
 If you want to install the framework from source, e.g., for contributing to the framework, use the following commands:
 

doc/migration/migration.rst

@@ -14,22 +14,13 @@ Coming from ros_control (ROS 1)
 Between different ROS 2 distributions
 **************************************
 
-These lists summarizes necessary changes to your code for a version update. For non-breaking updates, see the :ref:`release_notes`.
+This list summarizes necessary changes to your code for a version update to {DISTRO}. If you are skipping a distribution update, make sure to read the migration guides of all intermediate distributions.
 
-ros2_control
--------------
+For non-breaking updates, see the :ref:`release_notes`.
 
-.. toctree::
-   :titlesonly:
-
-   Foxy to Galactic <../ros2_control/doc/migration/Galactic.rst>
-   Iron to Jazzy <../ros2_control/doc/migration/Jazzy.rst>
-
-
-ros2_controllers
-----------------
 
 .. toctree::
    :titlesonly:
 
-   Iron to Jazzy <../ros2_controllers/doc/migration/Jazzy.rst>
+   ros2_control <../ros2_control/doc/migration.rst>
+   ros2_controllers <../ros2_controllers/doc/migration.rst>

doc/release_notes/release_notes.rst

@@ -3,25 +3,15 @@
 Release Notes
 =================================
 
-This page should highlight the most important changes of the ros2_control framework.
+This page should highlight the most important changes of the ros2_control framework in the {DISTRO} release. If you are skipping a distribution update, make sure to read the release notes of all intermediate distributions.
 
 These lists might not be complete, see the ``CHANGELOG.rst`` files in the respective repositories for a full list of changes.
 
 For necessary changes to your code for a version update, see the :ref:`migration`.
 
-ros2_control
--------------
 
 .. toctree::
    :titlesonly:
 
-   Iron to Jazzy <../ros2_control/doc/release_notes/Jazzy.rst>
-
-
-ros2_controllers
-----------------
-
-.. toctree::
-   :titlesonly:
-
-   Iron to Jazzy <../ros2_controllers/doc/release_notes/Jazzy.rst>
+   ros2_control <../ros2_control/doc/release_notes.rst>
+   ros2_controllers <../ros2_controllers/doc/release_notes.rst>

doc/resources/resources.rst

@@ -31,6 +31,43 @@ Summary:
     - Dr. Denis Stogl (Stogl Robotics Consulting)
 
 
+2023-09-19 ROSCon Spain Talk: Introduction to ros2_control
+,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+:download:`Presentation: Introduction to ros2_control <presentations/ROSCon_Spain_2023_introduction_to_ros2_control.pdf>`
+
+Summary:
+  This presentation aims to introduce the audience to the ros2_control framework, a hardware-agnostic control framework focusing on the modular composition of control systems for robots, sharing of controllers as well as real-time performance. The framework provides controller-lifecycle and hardware management on top of abstractions of real or virtual hardware interfaces. The talk explains different modules within the ros2_control ecosystem, such as hardware interfaces, controllers, controller managers, and how they interact with each other.
+
+`Recording <https://www.youtube.com/watch?v=YD3EOMfSo-w>`__
+
+  *Presenter: Sai Kishor Kothakota*
+
+  Authors:
+    - Sai Kishor Kothakota (PAL Robotics)
+
+2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control
+,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+
+`Recording <https://www.youtube.com/watch?v=LvBjVmZxxDA>`__
+
+`Github repo with code <https://github.com/bmagyar/rosdevday2023>`__
+
+TBD add Construct rosject link
+
+
+Summary:
+  In this hands-on presentation, we demonstrate how to set up a mobile manipulator with ros2_control in steps. First, we take a robot mobile base and demonstrate setting up ros2_control simulation for it in the URDF. Once done, a robot arm will be added to the mobile base, turning it into a mobile manipulator robot. The existing ros2_control configuration will be adjusted to accommodate for the new robot parts. Finally, the rosject concludes with a demonstration in Gazebo moving the robot using some off-the-shelf ros2_control controllers.
+
+  Attendees will learn
+
+  * how to prototype a mobile manipulator with URDF and ros2_control
+  * how to configure a gazebo simulation with a given URDF and ros2_control
+
+  *Presenter: Bence Magyar*
+
+  Authors:
+    - Dr. Bence Magyar (FiveAI / Bosch)
+
 2023-02 ROS Meetup Munich #5
 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
 :download:`Presentation: Tricycle Controller with ros2_control <presentations/pixel_robotics_tricycle_controller_with_ros2_control.pdf>`

doc/roscon2024_workshop.rst

@@ -0,0 +1,49 @@
+.. _roscon2024_workshop:
+
+ROSCon 2024 Workshop
+====================
+
+**Location: Room 200**
+
+**Time: 13:00-17:00, 21. October 2024**
+
+ros2_control: Fun with Controllers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+  .. image:: resources/images/ROSCon2024.png
+      :scale: 50%
+
+Summary
+-------
+
+If you already know that the ros2_control framework acts as a Kernel for ROS 2 robotics systems you are using but need help with application complexity, then this workshop is for you. The workshop covers the use of ros2_control controllers in products from various industries and shows solutions for all the little issues when running 24/7.
+
+You will get a practical overview of concepts like controller chaining - used for cascade control and real-time state estimators; and asynchronous and "side-load" controllers that enable you to run complex calculations without jitter in your control loops. We expect your active involvement!
+
+Before coming to the conference
+-------------------------------
+
+Recommended system setup:
+
+* Ubuntu 22.04 or Ubuntu 24.04
+* docker engine & docker compose installed
+
+If you don't have docker, follow `the docker instructions <https://docs.docker.com/engine/install/ubuntu>`_ to install it.
+
+If you don't have docker compose, run ``sudo apt-get install docker-compose-plugin`` or follow `the docker compose instructions <https://docs.docker.com/compose/install/linux/>`_ to install it.
+
+Slides are available in `pdf <https://tinyurl.com/ros2control-pdf>`_ and `pptx <https://tinyurl.com/ros2control-pptx>`_ .
+
+Try pulling the container we use prior to coming to the workshop:
+
+.. code::
+
+   docker pull bmagyar/roscon2024_workshop
+
+People
+------
+
+This workshop was brought to you by
+
+* Dr. Denis Stogl, `Stogl Robotics Consulting <https://stoglrobotics.de>`_
+* Dr. Bence Magyar, `Locus Robotics <https://locusrobotics.com>`_

doc/supported_robots/supported_robots.rst

@@ -12,9 +12,11 @@ Communication protocols
 End-effectors
 --------------
 - `Schunk SVH 5-finger Hand <https://github.com/SCHUNK-SE-Co-KG/schunk_svh_ros_driver/tree/ros2-humble>`_
+- `TESOLLO DG-3F Delto Gripper-3F <https://github.com/Tesollo-Delto/DELTO_ROS2>`_
 
 Non robot-devices
 ------------------
+- `ctrlX AUTOMATION <https://github.com/boschrexroth/ctrlx-automation-sdk-ros2>`_
 - `Force Dimension haptic devices <https://github.com/ICube-Robotics/forcedimension_ros2>`_
 - `Hoverboard motors <https://github.com/DataBot-Labs/hoverboard_ros2_control>`_
 - `NDI measurement systems <https://github.com/ICube-Robotics/ndisys_ros2>`_

index.rst

@@ -6,6 +6,7 @@ Welcome to the ros2_control documentation!
 .. toctree::
    :hidden:
 
+   doc/roscon2024_workshop.rst
    doc/getting_started/getting_started.rst
    doc/ros2_control/doc/index.rst
    doc/ros2_controllers/doc/controllers_index.rst

make_help_scripts/check_links.py

@@ -25,10 +25,12 @@
 
 LOGFILE = "linkcheck.log"
 
+
 def cleanup():
     os.remove(LOGFILE)
     shutil.rmtree("doc/api/", ignore_errors=True)
 
+
 def main():
     if len(sys.argv) != 2:
         print("Usage: python check_links.py <path_to_html_dir>")
@@ -37,15 +39,18 @@ def main():
     html_dir = sys.argv[1]
 
     # Copy API documentation to local directory
-    shutil.copytree(os.path.join(html_dir, "doc", "api"), "doc/api/", dirs_exist_ok=True)
+    shutil.copytree(os.path.join(html_dir, "doc", "api"),
+                    "doc/api/", dirs_exist_ok=True)
 
     # Run linkcheck
     with open(LOGFILE, "w") as logfile:
-        subprocess.run(["make", "linkcheck"], stdout=logfile, stderr=subprocess.PIPE)
+        subprocess.run(["make", "linkcheck"], stdout=logfile,
+                       stderr=subprocess.PIPE)
 
     # Check for broken links
     with open(LOGFILE, "r") as logfile:
-        broken_links = [line for line in logfile if "broken" in line and "github" not in line]
+        broken_links = [
+          line for line in logfile if 'broken' in line]
 
     if broken_links:
         num_broken = len(broken_links)
@@ -58,5 +63,6 @@ def main():
     cleanup()
     sys.exit(0)
 
+
 if __name__ == "__main__":
     main()

make_help_scripts/create_pr_stats.py

@@ -692,7 +692,7 @@ def print_contributors_stats(contributors_stats):
   "ros2_debian": "main"
 }
 
-maintainers = ["bmagyar", "destogl", "christophfroehlich"]
+maintainers = ["bmagyar", "destogl", "christophfroehlich", "saikishor"]
 blacklist = ["dependabot[bot]", "mergify[bot]"]
 
 # Get the current date and time

make_help_scripts/deploy_defines.py

@@ -126,8 +126,8 @@ def add_pr_stats_file():
             "galactic": "galactic",
             "humble": "humble",
             "iron": "iron",
-            "jazzy": "master",
-            "rolling": "master"  # master is rolling
+            "jazzy": "jazzy",
+            "rolling": "rolling"
         },
         "pr": os.environ.get('GZ_ROS2_CONTROL_PR')
     },