From 34620a08223b5deb90806f1f2b3a178a4d9def82 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sun, 17 Nov 2024 23:54:17 +0100
Subject: [PATCH] Fix several links (#645) (#646)
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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
---
 example_13/doc/userdoc.rst |  5 +++-
 example_15/doc/userdoc.rst | 59 +++++++++++++++++++++-----------------
 2 files changed, 37 insertions(+), 27 deletions(-)

diff --git a/example_13/doc/userdoc.rst b/example_13/doc/userdoc.rst
index b09fce9b6..e9e28c79a 100644
--- a/example_13/doc/userdoc.rst
+++ b/example_13/doc/userdoc.rst
@@ -462,7 +462,10 @@ Files used for this demos
 - URDF file: `three_robots.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/urdf/three_robots.urdf.xacro>`__
 
   + Description: `threedofbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/r3bot/urdf/threedofbot_description.urdf.xacro>`__
-  + ``ros2_control`` tag: `three_robots.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/three_robots.ros2_control.xacro>`__
+  + ``ros2_control`` tag:
+    + `threedofbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/threedofbot.ros2_control.xacro>`__
+    + `rrbot_system_position_only.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro>`__
+    + `rrbot_system_with_sensor.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro>`__
 - RViz configuration: `three_robots.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/rviz/three_robots.rviz>`__
 
 Controllers from this demo
diff --git a/example_15/doc/userdoc.rst b/example_15/doc/userdoc.rst
index 8b2b65cab..58fbcd96b 100644
--- a/example_15/doc/userdoc.rst
+++ b/example_15/doc/userdoc.rst
@@ -12,21 +12,6 @@ This example shows how to integrate multiple robots under different controller m
 Scenario: Using ros2_control within a local namespace
 -----------------------------------------------------
 
-* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
-* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
-* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
-
-  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
-  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
-
-* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
-* Test nodes goals configuration:
-
-  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
-  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
-
-* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
-
 .. note::
 
   When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, i.e., ``-c /rrbot/controller_manager``.
@@ -75,25 +60,26 @@ Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/positio
 
   ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
 
-Scenario: Using multiple controller managers on the same machine
-----------------------------------------------------------------
+Files used for this demo:
 
-* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
-* Controllers yaml:
-  - `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
-  - `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
-* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
+* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
+* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
+* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
 
   * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
-  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
+  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
 
 * RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
 * Test nodes goals configuration:
 
-  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
-  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
+  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml>`__
+  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml>`__
 
-* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
+* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
+
+
+Scenario: Using multiple controller managers on the same machine
+----------------------------------------------------------------
 
 
 .. note::
@@ -169,6 +155,27 @@ Commanding the robots using the now activated ``position_trajectory_controller``
 
   ros2 launch ros2_control_demo_example_15 test_multi_controller_manager_joint_trajectory_controller.launch.py
 
+
+Files used for this demo:
+
+* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
+* Controllers yaml:
+  - `multi_controller_manager_rrbot_1_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml>`__
+  - `multi_controller_manager_rrbot_2_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml>`__
+* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
+
+  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
+  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
+
+* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
+* Test nodes goals configuration:
+
+  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_forward_position_publisher.yaml>`__
+  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml>`__
+
+* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
+
+
 Controllers from this demo
 --------------------------
   * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__