Merge branch 'master' into switch_iron

doc/resources/resources.rst

@@ -11,9 +11,29 @@ Any files submitted to the documentation should be "licensed" by stating your na
 Presentations
 ---------------
 
+2023-10-18 ROSCon Workshop: ros2_control on Steroids
+,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+
+.. toctree::
+   :hidden:
+
+   roscon2023_workshop.rst
+
+Summary:
+  If you already know that the ros2_control framework acts as a Kernel for ROS 2 robotics systems, you are using it but struggling with application complexity, then this workshop is for you. The workshop covers the use of ros2_control 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, hardware modularization, multi-robot architectures and debugging of complex systems. On top of showcasing these functionalities, we expect your involvement in the discussion by bringing your complex application and discussing existing and potentially missing tooling in ros2_control.
+
+:doc:`Workshop page <roscon2023_workshop>`
+
+  Authors:
+    - Dr. Bence Magyar (Locus Robotics)
+    - Dr. Denis Stogl (Stogl Robotics Consulting)
+
+
 2023-02 ROS Meetup Munich #5
 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
-`Presentation: Tricycle Controller with ros2_control <https://github.com/ros-controls/control.ros.org/blob/master/doc/resources/presentations/pixel_robotics_tricycle_controller_with_ros2_control.pdf>`_
+:download:`Presentation: Tricycle Controller with ros2_control <presentations/pixel_robotics_tricycle_controller_with_ros2_control.pdf>`
 
 `Meetup event link <https://www.meetup.com/robot-operating-system-ros/events/290966049/>`_
 
@@ -29,7 +49,7 @@ Presentations
 
 2022-12 ROS-Industrial Conference 2022
 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
-`Presentation: ros2_control - Kernel for ROS 2 controlled robots <https://github.com/ros-controls/control.ros.org/blob/master/doc/resources/presentations/2022-12_ROS-I_Conference-ros2_control_-_Kernel_for_ROS_2_controlled_robots.pdf>`_
+:download:`Presentation: ros2_control - Kernel for ROS 2 controlled robots <presentations/2022-12_ROS-I_Conference-ros2_control_-_Kernel_for_ROS_2_controlled_robots.pdf>`
 
   Summary:
     ros2_control is 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 “kernel” functionality for robots by abstracting the hardware and doing heavy low-level management, for example, hardware lifecycle, communication and access control.
@@ -42,7 +62,7 @@ Presentations
 
 2022-10 ROSCon 2022
 ,,,,,,,,,,,,,,,,,,,
-`Presentation: A practitioner's guide to ros2_control <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2022-10_ROSCon2022_A_practitioners_guide_to_ros2_control.pdf>`_
+:download:`Presentation: A practitioner's guide to ros2_control <presentations/2022-10_ROSCon2022_A_practitioners_guide_to_ros2_control.pdf>`
 
   Summary:
     ros2_control is 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.
@@ -60,7 +80,7 @@ Presentations
 
 2022-06 ROSCon Fr 2022
 ,,,,,,,,,,,,,,,,,,,,,,,
-`Presentation: What is new in the best (and only) control framework for ROS2 - ros2_control <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2022-06_ROSConFr_What-is-new-in-ros2_control.pdf>`_
+:download:`Presentation: What is new in the best (and only) control framework for ROS2 - ros2_control <presentations/2022-06_ROSConFr_What-is-new-in-ros2_control.pdf>`
 
   Summary:
     ros2_control is a hardware-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework has become one of the main utilities for abstracting hardware and low-level control for 3rd party solutions like `MoveIt2` and `Nav2` systems.
@@ -77,7 +97,7 @@ Presentations
 
 2021-10 ROS World 2021
 ,,,,,,,,,,,,,,,,,,,,,,,,
-`Presentation: ros2_control - The future of ros_control <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2021-10_ROS_World_2021-ros2_control_The_future_of_ros_control.pdf>`_
+:download:`Presentation: ros2_control - The future of ros_control <presentations/2021-10_ROS_World_2021-ros2_control_The_future_of_ros_control.pdf>`
 
   Summary:
     ros2_control is a robot-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework offers controller lifecycle and hardware resource management, as well as abstractions on hardware interfaces.
@@ -93,7 +113,7 @@ Presentations
     - Denis Stogl (Stogl Robotics Consulting)
 
 
-`Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2021-10_ROS_World-Making_a_robot_ROS_2_powered.pdf>`_
+:download:`Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators <presentations/2021-10_ROS_World-Making_a_robot_ROS_2_powered.pdf>`
 
   Summary:
     With the release of ros2_control and MoveIt 2, ROS 2 Foxy finally has all the “ingredients” needed to power a robot with similar features as in ROS 1. We present the driver for Universal Robot’s manipulators as a real-world example of how robots can be run using ROS 2. We show how to realize multi-interface support for position and velocity commands in the driver and how to support scaling controllers while respecting factors set on the teach pendant. Finally, we show how this real-world example influences development of ros2_control to support non-joint related inputs and outputs in its real-time control loop.
@@ -109,8 +129,7 @@ Presentations
     - Dr. Andy Zelenak (PickNik Inc.)
     - Rune Søe-Knudsen (Universal Robots)
 
-
-`Presentation: Online Trajectory Generation and Admittance Control in ROS2 <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2021-10_ROS_World-Admittance_Control_in_ROS2.pdf>`_
+:download:`Presentation: Online Trajectory Generation and Admittance Control in ROS2 <presentations/2021-10_ROS_World-Admittance_Control_in_ROS2.pdf>`
 
   Summary:
     One of the top reasons to upgrade from ROS1 to ROS2 is better suitability for realtime tasks. We discuss the development of a new ROS2 controller to handle realtime contact tasks such as tool insertion with industrial robots. The admittance controller handles trajectories and single-waypoint streaming commands, making it compatible with MoveIt and many teleoperation frameworks. Part of the work involved ensuring kinematic limits (position/velocity/acceleration/jerk) are obeyed while limiting interaction forces with the environment. Finally, we give practical recommendations and examples of the admittance controller. A live demo will be shown at our booth.
@@ -126,7 +145,7 @@ Presentations
 
 2021-10-07 Weekly Robotics Meetup #13
 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
-`Meetup presentation: Getting started with ros2_control <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2021-1_WR_Meetup_Getting_started_with_ros2_control.pdf>`_
+:download:`Meetup presentation: Getting started with ros2_control <presentations/2021-1_WR_Meetup_Getting_started_with_ros2_control.pdf>`
 
   Summary:
     ros2_control is a robot-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework offers controller lifecycle and hardware-resource management, as well as abstractions on hardware interfaces.
@@ -158,7 +177,7 @@ Presentations
 
 2021-05 ROSCon Fr 2021
 ,,,,,,,,,,,,,,,,,,,,,,,
-`Presentation: Getting started with ros2_control <https://raw.githubusercontent.com/ros-controls/control.ros.org/master/doc/resources/presentations/2021-06_RosConFR_Getting_started_with_ros2_control.pdf>`_
+:download:`Presentation: Getting started with ros2_control <presentations/2021-06_RosConFR_Getting_started_with_ros2_control.pdf>`
 
   Summary:
     The presentation gives a quick overview on the basic concepts and some simple implementation examples. We show implementing a simple Hardware Abstraction Layer (aka SystemComponent) and a forwarding controller. Once done, we also look into modifying the controller with the example goal of changing the type of the command topic.

doc/roscon2023_workshop.rst → doc/resources/roscon2023_workshop.rst

@@ -3,18 +3,14 @@
 ROSCon 2023 Workshop
 ====================
 
-Slides
-
-`Presentation: ros2_control - ros2_control on Steroids <https://github.com/ros-controls/control.ros.org/blob/master/doc/resources/ROSCon2023_Workshop_ros2_control_on_Steroids.pdf>`_
-
 **Location: Imperial 9**
 
 **Time: 13:00-17:00, 18. October 2023**
 
 ros2_control on Steroids
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
-  .. image:: ../images/ROSCon2023.jpg
+  .. image:: images/ROSCon2023.jpg
       :scale: 50%
 
 Summary
@@ -24,6 +20,11 @@ If you already know that the ros2_control framework acts as a Kernel for ROS 2 r
 
 You will get a practical overview of concepts like controller chaining, hardware modularization, multi-robot architectures, parameter injection, and debugging of complex systems. On top of showcasing these functionalities, we expect your involvement in the discussion by bringing your complex application and discussing existing and potentially missing tooling in ros2_control.
 
+Slides
+------
+
+:download:`Presentation: ros2_control - ros2_control on Steroids <presentations/ROSCon2023_Workshop_ros2_control_on_Steroids.pdf>`
+
 Before coming to the conference
 -------------------------------
 

index.rst

@@ -6,7 +6,6 @@ Welcome to the ros2_control documentation!
 .. toctree::
    :hidden:
 
-   doc/roscon2023_workshop.rst
    doc/getting_started/getting_started.rst
    doc/ros2_control/doc/index.rst
    doc/ros2_controllers/doc/controllers_index.rst