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Fix absolute links #385

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Fix absolute links #385

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311caaa
fix absolute link
DominikN Aug 12, 2024
fc455a2
fix absolute link
DominikN Aug 12, 2024
9ddaa53
fix absolute link
DominikN Aug 12, 2024
6fae3a2
fix all links
DominikN Aug 12, 2024
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4 changes: 2 additions & 2 deletions panther_bringup/README.md
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Expand Up @@ -12,8 +12,8 @@ The package contains the default configuration and launch files necessary to sta

## Default Nodes Launched

- `battery_driver` [*[panther_battery/battery_node](https://github.com/husarion/panther_ros/panther_battery/src/main.cpp)*]: node responsible for monitoring and publishing the internal Battery state of the Husarion Panther robot. For more information, refer to [panther_battery](https://github.com/husarion/panther_ros/panther_battery/README.md).
- `ekf_filter` [*[robot_localization/ekf_node](https://github.com/cra-ros-pkg/robot_localization/blob/humble-devel/src/ekf_node.cpp)*]: Extended Kalman Filter node for more accurate odometry. For more information, refer to [robot_localization](https://github.com/cra-ros-pkg/robot_localization/tree/noetic-devel). The default configuration is stored in [ekf_config.yaml](https://github.com/husarion/panther_ros/panther_gazebo/config/ekf_config.yaml).
- `battery_driver` [*[panther_battery/battery_node](../panther_battery/src/main.cpp)*]: node responsible for monitoring and publishing the internal Battery state of the Husarion Panther robot. For more information, refer to [panther_battery](../panther_battery/README.md).
- `ekf_filter` [*[robot_localization/ekf_node](https://github.com/cra-ros-pkg/robot_localization/blob/humble-devel/src/ekf_node.cpp)*]: Extended Kalman Filter node for more accurate odometry. For more information, refer to [robot_localization](https://github.com/cra-ros-pkg/robot_localization/tree/noetic-devel). The default configuration is stored in [ekf_config.yaml](../panther_gazebo/config/ekf_config.yaml).
- `imu_container` [*[phidgets_spatial/phidgets::SpatialRosI](https://github.com/ros-drivers/phidgets_drivers/blob/humble/phidgets_spatial/src/spatial_ros_i.cpp)*, *[imu_filter_madgwick/ImuFilterMadgwickRos](https://github.com/CCNYRoboticsLab/imu_tools/blob/humble/imu_filter_madgwick/src/imu_filter_node.cpp)*]: container responsible for running Phidget Spatial IMU ROS driver, filtering and fusing the IMU data. It composes the `phidgets_spatial_node` and `imu_filter_node`.

## Bringup Launch Arguments
Expand Down
6 changes: 3 additions & 3 deletions panther_gazebo/README.md
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Expand Up @@ -11,7 +11,7 @@ The package contains a launch file and source files used to run the robot simula

## Usage

The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.
The recommended method for launching the simulation is by utilizing the [simulation.launch.py](../panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.

### Launch Arguments

Expand All @@ -35,7 +35,7 @@ The recommended method for launching the simulation is by utilizing the [simulat

### Changing Wheel Type

It is possible to change Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](https://github.com/husarion/panther_ros/panther_controller/config/WH01_controller.yaml) and [WH01.yaml](https://github.com/husarion/panther_ros/panther_description/config/WH01.yaml).
It is possible to change Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](../panther_controller/config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml).
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Add missing article "the".

The sentence "It is possible to change Panther wheels model in simulation." is missing the article "the" before "Panther wheels model."

- It is possible to change Panther wheels model in simulation.
+ It is possible to change the Panther wheels model in simulation.
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It is possible to change Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](../panther_controller/config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml).
It is possible to change the Panther wheels model in simulation. All you need to do is to point to new wheel and controller configuration files using `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default ones, i.e., [WH01_controller.yaml](../panther_controller/config/WH01_controller.yaml) and [WH01.yaml](../panther_description/config/WH01.yaml).
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[uncategorized] ~38-~38: You might be missing the article “the” here.
Context: ...ng Wheel Type It is possible to change Panther wheels model in simulation. All you nee...

(AI_EN_LECTOR_MISSING_DETERMINER_THE)

[uncategorized] ~38-~38: You might be missing the article “the” here.
Context: ...sible to change Panther wheels model in simulation. All you need to do is to point to new ...

(AI_EN_LECTOR_MISSING_DETERMINER_THE)


### Linear Battery Plugin

Expand Down Expand Up @@ -74,7 +74,7 @@ The NavSat sensors requires the spherical coordinates of the world origin to be

To obtain GPS data in Ignition, follow these steps:

- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/external_antenna.urdf.xacro) by adding the following lines to your [components.yaml](https://github.com/husarion/panther_ros/blob/ros2/panther_description/config/components.yaml) file inside the `components` list:
- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/external_antenna.urdf.xacro) by adding the following lines to your [components.yaml](../panther_description/config/components.yaml) file inside the `components` list:

```yaml
- type: ANT02
Expand Down
16 changes: 8 additions & 8 deletions panther_hardware_interfaces/README.md
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Expand Up @@ -23,7 +23,7 @@ Package that implements SystemInterface from ros2_control for Panther.
[//]: # (ROS_API_NODE_DESCRIPTION_START)

This package doesn't contain any standalone nodes - `PantherSystem` is a plugin loaded by the resource manager.
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](https://github.com/husarion/panther_ros/panther_description/)) and add a controller (example configuration provided in [panther_controller](https://github.com/husarion/panther_ros/panther_controller/) package).
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description)) and add a controller (example configuration provided in [panther_controller](../panther_controller) package).
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Add missing comma.

A comma is needed after "That said" for clarity.

- That said apart from the usual interface provided by the ros2_control, this plugin also provides additional published topics and services specific for Panther.
+ That said, apart from the usual interface provided by the ros2_control, this plugin also provides additional published topics and services specific for Panther.

Committable suggestion was skipped due to low confidence.

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[typographical] ~26-~26: It seems that a comma is missing.
Context: ... resource manager. To use this hardware interface you have to add it to your URDF (you ca...

(IN_ORDER_TO_VB_COMMA)

[formatting] ~26-~26: Use a comma after introducing a concessive statement.
Context: ...oller](../panther_controller) package). That said apart from the usual interface provided...

(EVEN_SO_PREMIUM)

That said apart from the usual interface provided by the ros2_control, this plugin also provides additional published topics and services specific for Panther.

[//]: # (ROS_API_NODE_DESCRIPTION_END)
Expand Down Expand Up @@ -58,7 +58,7 @@ That said apart from the usual interface provided by the ros2_control, this plug

[//]: # (ROS_API_NODE_PARAMETERS_START)

Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](https://github.com/husarion/panther_ros/panther_description/urdf/panther_macro.urdf.xacro)).
Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro)).

Physical properties

Expand All @@ -71,9 +71,9 @@ Physical properties
CAN settings

- `can_interface_name` [*string*, default: **panther_can**]: name of the CAN interface.
- `master_can_id` [*int*, default: **3**]: CAN ID of the master device (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `front_driver_can_id` [*int*, default: **1**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `rear_driver_can_id` [*int*, default: **2**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](https://github.com/husarion/panther_ros/panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `master_can_id` [*int*, default: **3**]: CAN ID of the master device (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `front_driver_can_id` [*int*, default: **1**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `rear_driver_can_id` [*int*, default: **2**]: CAN ID defined in the properties of Roboteq (set as in [canopen_configuration.yaml](../panther_hardware_interfaces/config/canopen_configuration.yaml)).
- `sdo_operation_timeout_ms` [*int*, default: **100**]: timeout of the SDO operations, currently no SDO operation is required in RT operation, so this timeout can be set to a higher value.
- `pdo_motor_states_timeout_ms` [*int*, default: **15**]: depends on the frequency at which Roboteq is configured to send motor states (PDO 1 and 2) data. By default, there should be 10 **[ms]** between received data, if it takes more than `pdo_motor_states_timeout_ms`, a motor states read error is triggered. The default value is set to be expected period +50% margin.
- `pdo_driver_state_timeout_ms` [*int*, default: **75**]: depends on the frequency at which Roboteq is configured to send driver state (PDO 3 and 4) data. By default, there should be 50 **[ms]** between received data, if it takes more than `pdo_driver_state_timeout_ms`, a driver state read error is triggered. The default value is set to be expected period +50% margin.
Expand All @@ -98,15 +98,15 @@ CAN settings
[//]: # (ROS_API_NODE_DESCRIPTION_START)

This package doesn't contain any standalone nodes - `PantherImuSensor` is a plugin loaded by the resource manager.
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_controller/) package).
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).
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Add missing comma.

A comma is needed after "To use this hardware interface" for clarity.

- To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).
+ To use this hardware interface, you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).
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Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
To use this hardware interface you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).
To use this hardware interface, you have to add it to your URDF (you can check how to do it in [panther_description](../panther_description/)) and add an `imu_sensor_broadcaster` controller (example configuration provided in [panther_controller](../panther_controller/) package).
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[typographical] ~101-~101: It seems that a comma is missing.
Context: ... resource manager. To use this hardware interface you have to add it to your URDF (you ca...

(IN_ORDER_TO_VB_COMMA)


[//]: # (ROS_API_NODE_DESCRIPTION_END)

#### Parameters

[//]: # (ROS_API_NODE_PARAMETERS_START)

Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](https://github.com/husarion/panther_ros/tree/ros2-devel/panther_description/urdf/panther_macro.urdf.xacro)).
Parameters that are required, are defined when including interface in URDF (you can check out [panther_macro.urdf.xacro](../panther_description/urdf/panther_macro.urdf.xacro)).

Physical properties

Expand Down Expand Up @@ -170,7 +170,7 @@ zeta = sqrt(3/4)* gyroMeasDrift = 0.00151

## Code structure

The code structure is described in more detail in a [separate file](https://github.com/husarion/panther_ros/panther_hardware_interfaces/CODE_STRUCTURE.md).
The code structure is described in more detail in a [separate file](../panther_hardware_interfaces/CODE_STRUCTURE.md).

## Generating CAN config

Expand Down
18 changes: 9 additions & 9 deletions panther_lights/README.md
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Expand Up @@ -160,15 +160,15 @@ Default animations can be found in the table below:

| ID | NAME | PRIORITY | ANIMATION |
| :---: | ----------------- | :------: | --------------------------------------------------------------------------------------------------------------------- |
| 0 | E_STOP | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |
| 0 | E_STOP | 3 | <img src="../panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="../panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="../panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |
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Add alt text to images.

The images in the table lack alt text, which is important for accessibility.

- |   0   | E_STOP            |    3     | <img src="../panther_lights/.docs/E_STOP.webp" width="400">            |
+ |   0   | E_STOP            |    3     | <img src="../panther_lights/.docs/E_STOP.webp" width="400" alt="E_STOP">            |
- |   1   | READY             |    3     | <img src="../panther_lights/.docs/READY.webp" width="400">             |
+ |   1   | READY             |    3     | <img src="../panther_lights/.docs/READY.webp" width="400" alt="READY">             |
- |   2   | ERROR             |    1     | <img src="../panther_lights/.docs/ERROR.webp" width="400">             |
+ |   2   | ERROR             |    1     | <img src="../panther_lights/.docs/ERROR.webp" width="400" alt="ERROR">             |
- |   3   | MANUAL_ACTION     |    3     | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400">     |
+ |   3   | MANUAL_ACTION     |    3     | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400" alt="MANUAL_ACTION">     |
- |   4   | AUTONOMOUS_ACTION |    3     | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
+ |   4   | AUTONOMOUS_ACTION |    3     | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400" alt="AUTONOMOUS_ACTION"> |
- |   5   | GOAL_ACHIEVED     |    2     | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400">     |
+ |   5   | GOAL_ACHIEVED     |    2     | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400" alt="GOAL_ACHIEVED">     |
- |   6   | LOW_BATTERY       |    2     | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400">       |
+ |   6   | LOW_BATTERY       |    2     | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400" alt="LOW_BATTERY">       |
- |   7   | CRITICAL_BATTERY  |    2     | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400">  |
+ |   7   | CRITICAL_BATTERY  |    2     | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400" alt="CRITICAL_BATTERY">  |
- |   9   | CHARGING_BATTERY  |    3     | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400">  |
+ |   9   | CHARGING_BATTERY  |    3     | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400" alt="CHARGING_BATTERY">  |
Committable suggestion

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Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
| 0 | E_STOP | 3 | <img src="../panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="../panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="../panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |
| 0 | E_STOP | 3 | <img src="../panther_lights/.docs/E_STOP.webp" width="400" alt="E_STOP"> |
| 1 | READY | 3 | <img src="../panther_lights/.docs/READY.webp" width="400" alt="READY"> |
| 2 | ERROR | 1 | <img src="../panther_lights/.docs/ERROR.webp" width="400" alt="ERROR"> |
| 3 | MANUAL_ACTION | 3 | <img src="../panther_lights/.docs/MANUAL_ACTION.webp" width="400" alt="MANUAL_ACTION"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="../panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400" alt="AUTONOMOUS_ACTION"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="../panther_lights/.docs/GOAL_ACHIEVED.webp" width="400" alt="GOAL_ACHIEVED"> |
| 6 | LOW_BATTERY | 2 | <img src="../panther_lights/.docs/LOW_BATTERY.webp" width="400" alt="LOW_BATTERY"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="../panther_lights/.docs/CRITICAL_BATTERY.webp" width="400" alt="CRITICAL_BATTERY"> |
| 9 | CHARGING_BATTERY | 3 | <img src="../panther_lights/.docs/CHARGING_BATTERY.webp" width="400" alt="CHARGING_BATTERY"> |
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### Animation Types

Expand Down
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