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Readme update hosted docs (#1137)
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* Update doc links from README to use separate doc

* Add a URL check to CI

This way we should find our earlier if a link breaks.

* Update link check to have ignore patterns

* Fix array handling
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fmauch authored Oct 10, 2024
1 parent 988b151 commit ff3ce21
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67 changes: 67 additions & 0 deletions .github/helpers/check_urls.sh
Original file line number Diff line number Diff line change
@@ -0,0 +1,67 @@
#!/bin/bash

set -e

IGNORE_FILES=""
IGNORE_PATTERNS=""

while getopts ":f:d:p:" opt; do
case "${opt}" in
f)
IGNORE_FILES="${OPTARG}";;
d)
IGNORE_DIRS="${OPTARG}";;
p)
IGNORE_PATTERNS="${OPTARG}";;
\?)
echo "Invalid option -$OPTARG"
exit;;
esac
done

read -r -a ignore_files <<<"$IGNORE_FILES"
read -r -a ignore_dirs <<<"$IGNORE_DIRS"
read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"

IGNORE_FILES_ARG=""
for item in "${ignore_files[@]}"; do
IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
done
IGNORE_DIRS_ARG=""
for item in "${ignore_dirs[@]}"; do
IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
done

#Find URLs in code:
urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)

fail_counter=0

FAILED_LINKS=()
for item in $urls; do
# echo $item
skip=0
for pattern in "${ignore_patterns[@]}"; do
[[ "$item" =~ $pattern ]] && skip=1
done

if [[ $skip == 1 ]]; then
echo "SKIPPING $item"
continue
fi

filename=$(echo "$item" | cut -d':' -f1)
url=$(echo "$item" | cut -d':' -f2-)
echo -n "Checking $url from file $filename"
if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
echo -e " \033[0;31mNOT FOUND\033[32m\n"
FAILED_LINKS+=("$url from file $filename")
((fail_counter=fail_counter+1))
else
printf " \033[32mok\033[0m\n"
fi
done

echo "Failed files:"
printf '%s\n' "${FAILED_LINKS[@]}"
exit $fail_counter
19 changes: 19 additions & 0 deletions .github/workflows/check_links.yml
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name: Check Links
on:
workflow_dispatch:
pull_request:
push:
branches:
- main

jobs:
check_links:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Check URLs
run: |
.github/helpers/check_urls.sh \
-d ".git build CMakeModules debian" \
-f "package.xml ursim_docker.rst" \
-p "vnc\.html"
18 changes: 9 additions & 9 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -103,24 +103,24 @@ For getting started, you'll basically need three steps:
```bash
sudo apt-get install ros-rolling-ur
```
See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
See the [installation instructions](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/installation.html) for more details and source-build instructions.

2. **Start & Setup the robot**. Once you've installed the driver, [setup the
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html)
and [create a program for external
control](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/install_urcap_e_series.html).
control](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/install_urcap_e_series.html).
Please do this step carefully and extract the calibration as explained
[here](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html#extract-calibration-information).
[here](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/installation/robot_setup.html#extract-calibration-information).
Otherwise the TCP's pose will not be correct inside the ROS ecosystem.

If no real robot is required, you can [use a simulated
robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator)
robot](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/simulation.html#usage-with-official-ur-simulator)
that will behave almost exactly like the real robot.


3. **Start the driver**. See the [usage
documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for
details.

```bash
Expand All @@ -129,7 +129,7 @@ For getting started, you'll basically need three steps:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
```

4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
4. Unless started in [headless mode](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/operation_modes.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.


## MoveIt! support
Expand All @@ -142,9 +142,9 @@ Watch MoveIt in action with the Universal Robots ROS2 driver:
*The video shows free-space trajectory planning around a modeled collision scene object using the MoveIt2 MotionPlanning widget for Rviz2.*

See the [MoveIt!
section](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html#using-moveit)
section](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/move.html#using-moveit)
of the [Usage
guide](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for details.
guide](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/toc.html) for details.

## Expected Changes in the Near Future

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