bring changes from upstream into atlas_devel

.clang-format

@@ -0,0 +1,16 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+InsertBraces: true
+...

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,80 @@
+name: "Bug Report"
+description: Create a new ticket for a bug.
+title: "[BUG] - <title>"
+labels: [
+  "bug"
+]
+body:
+  - type: textarea
+    id: description
+    attributes:
+      label: "Description"
+      description: Please enter an explicit description of your issue
+      placeholder: Describe your issue in a few sentences
+    validations:
+      required: true
+  - type: dropdown
+    id: robot-os
+    attributes:
+      label: "KUKA robot OS"
+      description: Version of the KUKA OS are you using
+      multiple: true
+      options:
+        - KSS
+        - Sunrise
+        - iiQKA
+  - type: input
+    id: os-version
+    attributes:
+      label: "KUKA robot OS version"
+      description: Version of the KUKA robot OS
+      placeholder: eg. KSS 8.6
+    validations:
+      required: true
+  - type: input
+    id: if-version
+    attributes:
+      label: "KUKA external interface version"
+      description: Version of the KUKA external interface
+      placeholder: eg. RSI 4.1.3
+    validations:
+      required: true
+  - type: input
+    id: robot-model
+    attributes:
+      label: "Affected robot model(s)"
+      description: Robot model the issue came up with
+      placeholder: eg. KR10 R1100-2
+    validations:
+      required: true
+  - type: input
+    id: driver-version
+    attributes:
+      label: "Version or commit hash of the driver"
+      description: If the issue came up with an older version (not master), provide the release version or commit hash
+    validations:
+      required: false
+  - type: textarea
+    id: setup
+    attributes:
+      label: "Setup"
+      description: Describe your setup, launch files and executables started (optionally attach rqt_graph output), modifications to code
+      render: bash
+    validations:
+      required: true
+  - type: textarea
+    id: reprod
+    attributes:
+      label: "Reproduction steps"
+      description: Clear and ordered steps of reporoducing
+      render: bash
+    validations:
+      required: true
+  - type: textarea
+    id: logs
+    attributes:
+      label: "Logs"
+      description: Attach relevant log output here, mentioning if lines were omitted to help readability.
+      render: bash
+    validations:
+      required: false

.github/workflows/deploy_wiki.yml

@@ -3,8 +3,9 @@ name: Deploy Wiki
 on:
   push:
     paths:
-      # Trigger only when wiki directory changes
+      # Trigger only when wiki directory or pipeline changes
       - 'doc/wiki/**'
+      - '.github/workflows/deploy_wiki.yml'
     branches:
       # And only on master branch
       - master
@@ -16,11 +17,8 @@ jobs:
     - uses: actions/checkout@v2
 
     - name: Push Wiki Changes
-      uses: resizoltan/github-wiki-action@master
+      uses: SwiftDocOrg/github-wiki-publish-action@v1
+      with:
+        path: "doc/wiki"
       env:
-        # Make sure you have that / at the end. We use rsync
-        # WIKI_DIR's default is wiki/
-        WIKI_DIR: doc/wiki/
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        GH_MAIL: [email protected]
-        GH_NAME: resizoltan
+        GH_PERSONAL_ACCESS_TOKEN: ${{ secrets.GH_PERSONAL_ACCESS_TOKEN }}

.github/workflows/industrial_ci.yml

@@ -55,3 +55,14 @@ jobs:
       # Run industrial_ci
       - uses: 'kroshu/industrial_ci@master'
         env: ${{ matrix.env }}
+  codespell:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/[email protected]
+        with:
+          python-version: '3.10'
+      - run: pip install git+https://github.com/codespell-project/codespell.git
+      - uses: codespell-project/actions-codespell@v2
+        with:
+          check_filenames: true

.github/workflows/pre-commit.yml

@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/[email protected]
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.gitignore

@@ -0,0 +1 @@
+__pycache__/

.pre-commit-config.yaml

@@ -0,0 +1,140 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.4.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v15.0.6
+    hooks:
+      - id: clang-format
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*|.*/robot_application/.*
+
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=TRUE ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.4
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$

CONTRIBUTING.md

@@ -1,10 +1,34 @@
-The ROS2 KUKA Sunrise driver is being developed and maintained by the kroshu team, but everyone is welcome to contribute. Please take the following aspects into consideration when making contributions:
+## Issue tracking
 
-- By default the Git ["Fork and Branch"](https://blog.scottlowe.org/2015/01/27/using-fork-branch-git-workflow/) workflow should be followed.
-- To foster a high quality product, feature extensions and improvements shall be done after careful design choices. Therefore, design documents and discussion with the maintainers prior to any development is strongly encouraged to make sure that everyone agrees on the issue and the suggested solution. Depending on the individual case the way to do this could be through a GitHub issue, a pull request to the design drafts folder or a new discussion on the repository's Discussions forum.
-- Code quality in this repository is monitored via industrial_ci and SonarCloud. All changes must pass the checks performed by these. (There is some flexibility to test coverage)
+If you have questions, suggestions or found a bug, feel free to open an [issue](https://github.com/kroshu/kuka_drivers/issues).
+When filing an issue, please check open issues to make sure somebody else hasn't already reported it. Please try to include as much information as you can, including:
+- A reproducible test case or series of steps
+- The version/commit hash of our code being used
+- Any modifications you've made relevant to the bug
+- Anything unusual about your environment or deployment
 
+Please do not add labels to the issue, that should be handled by the maintainers.
 
+## Contributing
+
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+- Your PR addresses only one issue
+- Your PR has a descriptive title and a short summary
+- All pipelines are green, including
+    - Industrial CI
+    - Sonarcloud
+    - Spell checks
+    - Linters
+
+To send us a pull request, please:
+- Discuss the proposed changes with the maintainers, preferably in an issue
+- Fork the repository
+- Modify the source focusing on the specific change you are contributing
+- Ensure that local tests pass (`colcon test` and `pre-commit` run)
+- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation
+
+## Licensing
 Any contribution that you make to this repository will
 be under the Apache 2 License, as dictated by that
 [license](http://www.apache.org/licenses/LICENSE-2.0.html):
@@ -18,4 +42,3 @@ be under the Apache 2 License, as dictated by that
    the terms of any separate license agreement you may have executed
    with Licensor regarding such Contributions.
 ~~~
-

README.md

@@ -1,14 +1,18 @@
 # ROS2 KUKA Drivers
 
-Experimental ROS2 driver for KUKA robots. Recommended distribution is [ROS 2 Humble Hawksbill:](https://docs.ros.org/en/humble/Installation.html).
-
-> ROS2 Iron Irwini has breaking changes, thus it is not yet supported.
+This repository contains ROS2 drivers for all KUKA operating systems.
 
 Github CI | SonarCloud
 ------------| ---------------
 [![Build Status](https://github.com/kroshu//kuka_drivers/workflows/CI/badge.svg?branch=master)](https://github.com/kroshu/ros2_kuka_sunrise_fri_driver/actions) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=kroshu_kuka_drivers&metric=alert_status)](https://sonarcloud.io/dashboard?id=kroshu_kuka_drivers)
 
+# Requirements
+The drivers require a system with ROS installed. It is recommended to use Ubuntu 22.04 with ROS humble. Iron Irwini has breaking changes in the moveit API, thus it is not yet supported.
+It is also recommended to use a client machine with a real-time kernel, as all three drivers require cyclic, real-time communication. Due to the real-time requirement, Windows systems are not recommended and covered in the documentation.
+
+
 # Installation
+The driver is not available as a binary package, building from source is necessary.
 
 Create ROS2 workspace (if not already created).
 ```bash
@@ -49,6 +53,7 @@ Source built KUKA packages.
 source ~/ros2_ws/install/setup.bash
 ```
 
-# Get Started
+# Getting Started
+Documentation of this project can be found on the repository's [Wiki](https://github.com/kroshu/kuka_drivers/wiki) page.
 
-Documentation of this project can be found on the repository's [Wiki](https://github.com/kroshu/kuka_drivers/wiki) page.
+If you find something confusing, not working, or would like to contribute, please read our [contributing guide](CONTRIBUTING.md) before opening an issue or creating a pull request.