🚀 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
  • Move joint checks into some helper class to be shared between hardware implementations #47
  • Use case: Support for initialization of robot hardware #27
  • Use case: robot prototype #23
  • Consider to add a Cartesian interface #19
• Improve general docs and code
  • Explain meaning of ROS2_CONTROL_DEMO_HARDWARE_PUBLIC in example headers #73
  • Add tests for the example HW to be shure that the concepts are implemented properly. #46
  • fix cli commands #49
  • Create descriptions for robots from examples #5
  • remove use of **NOTE**: from .rst files and use .. note:: block
• Add each example into separate self-contained package
• Remove rrbot_base.launch.py from example folders, i.e., rename it to example launch file and setup parameters needed for the example. #264
• Unify naming of the files are proposed in the PR
• Use .rst files for describing examples and the main repository description to be easily integrated into documentation.
  • Move documentation to .rst files #105
  • Move contents from README.md to doc/index.rst #80
• Use CMakeLists.txt structure for overriding showed in - ros_controls/ros2_control#926
• Remove test_nodes package from this repository and use ros2_controllers_test_nodes package
  • I wanted to push “illegal” stuff through. #220
• Keep Gazebo example out of this repository for now (we can open a PR for it, but not merge it in the first batch)
  • Link in the Description not working  #217
  • gzserver segmentation fault  #91
  • Making rrbot position only working on Gazebo #65
  • Cleanup / revise xacro parameters #240
• Update code to the newest standard
  • Remove use of using in examples and use hardware_interface::CallbackReturn instead #171
  • Update to new ros2controlcli interface #75
• Make sure the example implements add details as: (copy this list the PR) - replaces Restructure the examples as an individual packages #119
  • Has correct folder structure (Described in the main README.md)
  • Example has "README.rst" with description
  • There are detailed commands how to run an example
  • There are output examples of commands
  • There are screenshots with expected visualizations

Examples

• Example_1 - RRBot - single interface robot arm example (merged with "Single interface industrial robot example")
  • Restructuring for example_1 #234
• Example_2 - DiffBot - single interface mobile robot example
  • Write documentation for dif drive example merged in #70 #87
  • Restructuring for example_2 #233
• Example_3 – "Robots with multiple interfaces"
  • Multiple interfaces demo not updated #95
• Example_4 – "Industrial robot with integrated sensor"
• Example_5 – "Industrial Robots with externally connected sensor"
• Example_6 – "Modular Robots with separate communication to each actuator"
• Example_7 - "Multi-robot example"
  • prefix for multi robot system #110
• … TBA …
• 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?