From ebd86c20bd2bac0c150338b9577dc52c88c589e9 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 16 Apr 2024 12:08:49 +0000
Subject: [PATCH 1/6] Add simple rosdoc2 landing page

---
 .github/workflows/rosdoc2.yml  | 14 ++++++++
 .pre-commit-config.yaml        | 10 +++---
 ros2_controllers/doc/conf.py   |  5 +++
 ros2_controllers/doc/index.rst | 62 ++++++++++++++++++++++++++++++++++
 ros2_controllers/rosdoc2.yaml  | 20 +++++++++++
 5 files changed, 107 insertions(+), 4 deletions(-)
 create mode 100644 .github/workflows/rosdoc2.yml
 create mode 100644 ros2_controllers/doc/conf.py
 create mode 100644 ros2_controllers/doc/index.rst
 create mode 100644 ros2_controllers/rosdoc2.yaml

diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
new file mode 100644
index 0000000000..3fdbaedb55
--- /dev/null
+++ b/.github/workflows/rosdoc2.yml
@@ -0,0 +1,14 @@
+name: rosdoc2
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - ros2_controllers/doc/**
+      - ros2_controllers/rosdoc2.yaml
+      - ros2_controllers/package.xml
+
+
+jobs:
+  check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@rosdoc2
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 31ba833ba5..429a602b75 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -26,6 +26,7 @@ repos:
       - id: check-symlinks
       - id: check-xml
       - id: check-yaml
+        exclude: .*/rosdoc2\.yaml$
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending
@@ -36,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.1
+    rev: v3.15.2
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -62,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.1
+    rev: v18.1.3
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -104,6 +105,7 @@ repos:
         description: Check if copyright notice is available in all files.
         entry: ament_copyright
         language: system
+        exclude: .*/conf\.py$
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
@@ -131,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
diff --git a/ros2_controllers/doc/conf.py b/ros2_controllers/doc/conf.py
new file mode 100644
index 0000000000..b6134e9abd
--- /dev/null
+++ b/ros2_controllers/doc/conf.py
@@ -0,0 +1,5 @@
+# Configuration file for the Sphinx documentation builder.
+# settings will be overridden by rosdoc2, so we add here only custom settings
+
+copyright = "2024, ros2_control development team"
+html_logo = "https://control.ros.org/master/_static/logo_ros-controls.png"
diff --git a/ros2_controllers/doc/index.rst b/ros2_controllers/doc/index.rst
new file mode 100644
index 0000000000..99ee7d909d
--- /dev/null
+++ b/ros2_controllers/doc/index.rst
@@ -0,0 +1,62 @@
+Welcome to the documentation for ros2_controllers
+=================================================
+
+For more information of the ros2_control framework see `control.ros.org <https://control.ros.org/>`__.
+
+.. list-table::
+  :header-rows: 1
+
+  * - Package Name
+    - API
+    - ROS Index
+  * - ackermann_steering_controller
+    - `API <http://docs.ros.org/en/rolling/p/ackermann_steering_controller/>`__
+    - `ROS Index <https://index.ros.org/p/ackermann_steering_controller/>`__
+  * - admittance_controller
+    - `API <http://docs.ros.org/en/rolling/p/admittance_controller/>`__
+    - `ROS Index <https://index.ros.org/p/admittance_controller/>`__
+  * - bicycle_steering_controller
+    - `API <http://docs.ros.org/en/rolling/p/bicycle_steering_controller/>`__
+    - `ROS Index <https://index.ros.org/p/bicycle_steering_controller/>`__
+  * - diff_drive_controller
+    - `API <http://docs.ros.org/en/rolling/p/diff_drive_controller/>`__
+    - `ROS Index <https://index.ros.org/p/diff_drive_controller/>`__
+  * - effort_controllers
+    - `API <http://docs.ros.org/en/rolling/p/effort_controllers/>`__
+    - `ROS Index <https://index.ros.org/p/effort_controllers/>`__
+  * - force_torque_sensor_broadcaster
+    - `API <http://docs.ros.org/en/rolling/p/force_torque_sensor_broadcaster/>`__
+    - `ROS Index <https://index.ros.org/p/force_torque_sensor_broadcaster/>`__
+  * - forward_command_controller
+    - `API <http://docs.ros.org/en/rolling/p/forward_command_controller/>`__
+    - `ROS Index <https://index.ros.org/p/forward_command_controller/>`__
+  * - imu_sensor_broadcaster
+    - `API <http://docs.ros.org/en/rolling/p/imu_sensor_broadcaster/>`__
+    - `ROS Index <https://index.ros.org/p/imu_sensor_broadcaster/>`__
+  * - joint_state_broadcaster
+    - `API <http://docs.ros.org/en/rolling/p/joint_state_broadcaster/>`__
+    - `ROS Index <https://index.ros.org/p/joint_state_broadcaster/>`__
+  * - joint_trajectory_controller
+    - `API <http://docs.ros.org/en/rolling/p/joint_trajectory_controller/>`__
+    - `ROS Index <https://index.ros.org/p/joint_trajectory_controller/>`__
+  * - pid_controller
+    - `API <http://docs.ros.org/en/rolling/p/pid_controller/>`__
+    - `ROS Index <https://index.ros.org/p/pid_controller/>`__
+  * - position_controllers
+    - `API <http://docs.ros.org/en/rolling/p/position_controllers/>`__
+    - `ROS Index <https://index.ros.org/p/position_controllers/>`__
+  * - range_sensor_broadcaster
+    - `API <http://docs.ros.org/en/rolling/p/range_sensor_broadcaster/>`__
+    - `ROS Index <https://index.ros.org/p/range_sensor_broadcaster/>`__
+  * - steering_controllers_library
+    - `API <http://docs.ros.org/en/rolling/p/steering_controllers_library/>`__
+    - `ROS Index <https://index.ros.org/p/steering_controllers_library/>`__
+  * - tricycle_controller
+    - `API <http://docs.ros.org/en/rolling/p/tricycle_controller/>`__
+    - `ROS Index <https://index.ros.org/p/tricycle_controller/>`__
+  * - tricycle_steering_controller
+    - `API <http://docs.ros.org/en/rolling/p/tricycle_steering_controller/>`__
+    - `ROS Index <https://index.ros.org/p/tricycle_steering_controller/>`__
+  * - velocity_controllers
+    - `API <http://docs.ros.org/en/rolling/p/velocity_controllers/>`__
+    - `ROS Index <https://index.ros.org/p/velocity_controllers/>`__
diff --git a/ros2_controllers/rosdoc2.yaml b/ros2_controllers/rosdoc2.yaml
new file mode 100644
index 0000000000..c5ec1b53a0
--- /dev/null
+++ b/ros2_controllers/rosdoc2.yaml
@@ -0,0 +1,20 @@
+type: 'rosdoc2 config'
+version: 1
+
+---
+
+settings:
+    # Not generating any documentation of code
+    generate_package_index: false
+    always_run_doxygen: false
+    enable_breathe: false
+    enable_exhale: false
+    always_run_sphinx_apidoc: false
+
+builders:
+   # Configure Sphinx with the location of the docs:
+    - sphinx: {
+        name: 'ros2_controllers',
+        sphinx_sourcedir: 'doc',
+        output_dir: ''
+      }

From 31ef1e3c5bca0730b567123741f21a8ab9468b5c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 16 Apr 2024 12:09:02 +0000
Subject: [PATCH 2/6] Add link to package.xml

---
 ros2_controllers/package.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
index fc2e40fb8a..60d107147a 100644
--- a/ros2_controllers/package.xml
+++ b/ros2_controllers/package.xml
@@ -8,6 +8,8 @@
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ackermann_steering_controller</exec_depend>

From d7e248db50ddec0a59ca5763b28f380779265735 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 16 Apr 2024 12:13:35 +0000
Subject: [PATCH 3/6] Roll back version bumps

---
 .pre-commit-config.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 429a602b75..4d007580d2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.3
+    rev: v18.1.1
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.1
+    rev: 0.28.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

From c45e36de01216a3e3a3e75fc2623019f83e10c82 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Wed, 17 Apr 2024 07:43:51 +0200
Subject: [PATCH 4/6] Use master branch of ros2_control_ci repo

---
 .github/workflows/rosdoc2.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
index 3fdbaedb55..0771248e79 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rosdoc2.yml
@@ -11,4 +11,4 @@ on:
 
 jobs:
   check:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@rosdoc2
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master

From 66b401d885547a0c86658de580724872848f0249 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Apr 2024 05:51:25 +0000
Subject: [PATCH 5/6] Add links to controller docs on control.ros.org

---
 ros2_controllers/doc/index.rst | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/ros2_controllers/doc/index.rst b/ros2_controllers/doc/index.rst
index 99ee7d909d..f785112944 100644
--- a/ros2_controllers/doc/index.rst
+++ b/ros2_controllers/doc/index.rst
@@ -7,56 +7,74 @@ For more information of the ros2_control framework see `control.ros.org <https:/
   :header-rows: 1
 
   * - Package Name
+    - Documentation
     - API
     - ROS Index
   * - ackermann_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/ackermann_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/ackermann_steering_controller/>`__
   * - admittance_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/admittance_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/admittance_controller/>`__
     - `ROS Index <https://index.ros.org/p/admittance_controller/>`__
   * - bicycle_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/bicycle_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/bicycle_steering_controller/>`__
   * - diff_drive_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/diff_drive_controller/>`__
     - `ROS Index <https://index.ros.org/p/diff_drive_controller/>`__
   * - effort_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/effort_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/effort_controllers/>`__
     - `ROS Index <https://index.ros.org/p/effort_controllers/>`__
   * - force_torque_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/force_torque_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/force_torque_sensor_broadcaster/>`__
   * - forward_command_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/forward_command_controller/>`__
     - `ROS Index <https://index.ros.org/p/forward_command_controller/>`__
   * - imu_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/imu_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/imu_sensor_broadcaster/>`__
   * - joint_state_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/joint_state_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/joint_state_broadcaster/>`__
   * - joint_trajectory_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/joint_trajectory_controller/>`__
     - `ROS Index <https://index.ros.org/p/joint_trajectory_controller/>`__
   * - pid_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/pid_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/pid_controller/>`__
     - `ROS Index <https://index.ros.org/p/pid_controller/>`__
   * - position_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/position_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/position_controllers/>`__
     - `ROS Index <https://index.ros.org/p/position_controllers/>`__
   * - range_sensor_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/range_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/range_sensor_broadcaster/>`__
   * - steering_controllers_library
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/steering_controllers_library/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/steering_controllers_library/>`__
     - `ROS Index <https://index.ros.org/p/steering_controllers_library/>`__
   * - tricycle_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/tricycle_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/tricycle_controller/>`__
     - `ROS Index <https://index.ros.org/p/tricycle_controller/>`__
   * - tricycle_steering_controller
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/tricycle_steering_controller/>`__
     - `ROS Index <https://index.ros.org/p/tricycle_steering_controller/>`__
   * - velocity_controllers
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/velocity_controllers/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/velocity_controllers/>`__
     - `ROS Index <https://index.ros.org/p/velocity_controllers/>`__

From 29ab7fe9645ae7c13693c7b014f45467966f48ca Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Apr 2024 21:03:19 +0000
Subject: [PATCH 6/6] Set check-yaml syntax instead of ignoring

---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 4d007580d2..0d37991a2d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -26,7 +26,7 @@ repos:
       - id: check-symlinks
       - id: check-xml
       - id: check-yaml
-        exclude: .*/rosdoc2\.yaml$
+        args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending