🚀 Strategy for bringing the repository up to date 🤖

[destogl]

This issue provides an overview and steps to bring the repository up to the speed of the rest of the framework.

Goal: Get all existing examples into new structure, working with the master branches of ros2_control and ros2_controllers repositories, and make maintenance easy.

Check #232 for the implementation of this strategy.

Let's add all the example to the above PR and merge the whole restructuring at once. For that, we will squash-merge all the PR expect the last one to the master.

Below items are referencing issues that should be resolved to achieve the goal

Target Structure and Usage of Functionalities from Other Repositories

• [ ] Improve framework in general
  • ros-controls/ros2_control_demos#47
  • ros-controls/ros2_control_demos#27
  • ros-controls/ros2_control_demos#23
  • ros-controls/ros2_control_demos#19
• [ ] Improve general docs and code
  • ros-controls/ros2_control_demos#73
  • ros-controls/ros2_control_demos#46
  • ros-controls/ros2_control_demos#49
  • ros-controls/ros2_control_demos#5
  • remove use of **NOTE**: from .rst files and use .. note:: block
• [x] Add each example into separate self-contained package
• [x] #264
• [x] Unify naming of the files are proposed in the PR
• [x] Use .rst files for describing examples and the main repository description to be easily integrated into documentation.
  • ros-controls/ros2_control_demos#105
  • ros-controls/ros2_control_demos#80
• [x] Use CMakeLists.txt structure for overriding showed in - ros_controls/ros2_control#926
• [x] Remove test_nodes package from this repository and use ros2_controllers_test_nodes package
  • ros-controls/ros2_control_demos#220
• [x] Keep Gazebo example out of this repository for now (we can open a PR for it, but not merge it in the first batch)
  • ros-controls/ros2_control_demos#217
  • ros-controls/ros2_control_demos#91
  • ros-controls/ros2_control_demos#65
  • ros-controls/ros2_control_demos#240
• [x] Update code to the newest standard
  • ros-controls/ros2_control_demos#171
  • ros-controls/ros2_control_demos#75
• [x] Make sure the example implements add details as: (copy this list the PR) - replaces #119
  • [x] Has correct folder structure (Described in the main README.md)
  • [x] Example has "README.rst" with description
  • [x] There are detailed commands how to run an example
  • [x] There are output examples of commands
  • [x] There are screenshots with expected visualizations

Examples

• [x] Example_1 - RRBot - single interface robot arm example (merged with "Single interface industrial robot example")
  • ros-controls/ros2_control_demos#234
• [x] Example_2 - DiffBot - single interface mobile robot example
  • ros-controls/ros2_control_demos#87
  • ros-controls/ros2_control_demos#233
• [x] Example_3 – "Robots with multiple interfaces"
  • ros-controls/ros2_control_demos#95
• [x] Example_4 – "Industrial robot with integrated sensor"
• [x] Example_5 – "Industrial Robots with externally connected sensor"
• [x] Example_6 – "Modular Robots with separate communication to each actuator"
• [ ] Example_7 - "Multi-robot example"
  • ros-controls/ros2_control_demos#110
• [x] … TBA …
• [x] Example_9 - "Gazebo Classic and Gazebo Sim full blown example."

[christophfroehlich]

should we add the mode-switching as a standalone example, or add this to example_1?

[christophfroehlich]

should we add the mode-switching as a standalone example, or add this to example_1?

I propose integrating it into example_1 with #243 , because the controller-yaml already had the JTC config.

[christophfroehlich]

I had a look on the images in the doc folder, which are outdated imho. @destogl can we update them or should we delete them?