Hopefully last name reorganization bolt_robot -> odri_bolt_robot

(There are too many bolt robots...)

README.md

@@ -1,10 +1,8 @@
-This repository has now been superseeded by https://github.com/stack-of-tasks/bolt_robot
-
-# ROS2_CONTROL_BOLT
+# ODRI Bolt Robot
 
 ## Introduction
 
-`ros2_control_bolt` is a repository that enables controlling and simulating the Bolt robot through the [ros2_control](https://control.ros.org) infrastructure.
+`odri_bolt_robot` is a repository that enables controlling and simulating the Bolt robot from the [Open Dynamics Robot Initiative] through the [ros2_control](https://control.ros.org) infrastructure.
 It allows to have bolt displayed through rviz, provides the access to the [ros2_controllers](https://github.com/ros-controls/ros2_controllers).
 The most notorious is `joint_state_broadcaster` which provides the topic `/joint_states` for free.
 It is then possible the node `robot_state_publisher` to have the TF-2 tree of the Bolt robot and to display it on rviz.
@@ -19,13 +17,11 @@ The install procedure is described in details [here](doc/Start.md).
 
 [doc](doc) - a set of tutorials to start, calibrate and launch Bolt.
 
-[gazebo_ros2_control_bolt](gazebo_ros2_control_bolt) - a ROS2 package that allows to simulate Bolt robot on Gazebo and apply position, velocity, effort and gains commands to it.
-
 [position_velocity_effort_gain_controller](position_velocity_effort_gain_controller) - a ROS2 package in which is implemented a simple controller that enables to send position, velocity, effort and gain commands to the robot, with the specific hardware interface.
 
-[ros2_control_bolt_bringup](ros2_control_bolt_bringup) - contains files that enable to launch Bolt within its GUIs, and with it hardware interfaces and controllers.
+[odri_bolt_bringup](odri_bolt_bringup) - contains files that enable to launch Bolt within its GUIs, and with it hardware interfaces and controllers.
 
-[ros2_description_bolt](ros2_description_bolt) - contains files necessary to describe, create and visualize Bolt with Rviz and Gazebo. It stores URDF-description files, rviz configurations and meshes for the demo robots.
+[odri_bolt_description](odri_bolt_description) - contains files necessary to describe, create and visualize Bolt with Rviz and Gazebo. It stores URDF-description files, rviz configurations and meshes for the demo robots.
 
 This repository relies on the [ros2_hardware_interface_odri](https://github.com/stack-of-tasks/ros2_hardware_interface_odri) which is a ros2_control driver for the ODRI board.
 

doc/Forward_Position_Bolt.md

@@ -20,7 +20,7 @@ To move Bolt as you wish, you can use a `controller`. For this you will just nee
 
 - Move the robot to where you want it to go and press `Ctrl-C` to stop the file `demo_bolt_sensor_reading` running.
 
-- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8`
+- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/odri_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8`
 `pos1`
 
 - Repeat this as many times as you want , just pass the next position in the yaml file to pos2 etc...
@@ -41,7 +41,7 @@ When you have configured all the positions, you should run the new controller. :
 
 - Run in this terminal the `bolt_system_position_only` file (if you don't know how, follow the previous tutorial) :
 
-      ros2 launch ros2_control_bolt_bringup bolt_system_position_only.launch.py
+      ros2 launch odri_bolt_bringup bolt_system_position_only.launch.py
 
 - When it is running you have 2 ways to run the `bolt_forward_position_publisher` **controller** :
 
@@ -57,7 +57,7 @@ When you have configured all the positions, you should run the new controller. :
 
         - You just have to launch the file :
 
-                      ros2 launch ros2_control_bolt_bringup test_forward_position_controller.launch.py
+                      ros2 launch odri_bolt_bringup test_forward_position_controller.launch.py
 
           **Now you can see bolt going to every point you gave it.**
 
@@ -98,7 +98,7 @@ When you have configured all the positions, you should run the new controller. :
 
       - Now that the controller is active, you can launch it :
 
-              ros2 launch ros2_control_bolt_bringup test_forward_position_controller.launch.py
+              ros2 launch odri_bolt_bringup test_forward_position_controller.launch.py
 
      Now you can see the bolt go to each point you gave it.
 

doc/Launch.md

@@ -11,11 +11,11 @@ After you've followed all previous tutorials, you have the required knowledge  t
 
 Launch files are code in python, we make them to creating `commands lines` and `launch some nodes`. They are really useful because when we run them we can run a lot of nodes and commands lines at the same time.
 
-All the launch files can be found in the [ros2_control_bringup](https://github.com/Benjamin-Amsellem/ros2_control_bolt/tree/master/ros2_control_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_bringup/launch/bolt_system_position_only.launch.py):
+All the launch files can be found in the [odri_bolt_bringup](https://github.com/stack-of-tasks/odri_bolt_robot/tree/master/odri_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt_system_position_only.launch.py):
 
 When you start a launch file you need to `declare the description` of your launch and inside you declare every argument you need.
 After having declared every argument, you `initialize` them with what you  want to do.
-At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`.
+At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`.
 
 If you need to launch a `real time node`, you must call them as a `Owner user` with the `sudo` command.
 
@@ -37,7 +37,7 @@ You may need to setup 2 things to run a launch file :
 
     When you run a launch file with a node in sudo (in real time), the sudo user and your user can't talk to each other. To resolve this problem, you have to add a file inside your directory.
 
-    Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_description_bolt/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` :
+    Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_description_bolt/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` :
 
 		    export FASTRTPS_DEFAULT_PROFILES_FILE=<PATH_TO_THE_FILE>
 
@@ -64,7 +64,7 @@ Now you can really play with Bolt, if you have followed correctly each tutorial
 
 	    sudo ls
 
-	    ros2 launch ros2_control_bolt_bringup bolt_system_position_only.launch.py
+	    ros2 launch odri_bolt_bringup bolt_system_position_only.launch.py
 
     You have first do a `sudo ls` since you need to  be in `sudo mode`.
 
@@ -82,13 +82,13 @@ Now you can really play with Bolt, if you have followed correctly each tutorial
 
         you will see that list :
 
-	![Topic List](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_1-R.png?raw=true "Topic List")
+	![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_1-R.png?raw=true "Topic List")
 
     -  run the topic `/joint_states` :
 
 			ros2 topic echo /joint_states
 
-	![/join_states](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_2-R.png?raw=true "/join_states")
+	![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_2-R.png?raw=true "/join_states")
 
 	**You can see all the parameters of Bolt in real time !**
 

bolt_bringup/CMakeLists.txt → odri_bolt_bringup/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ros2_control_bolt_bringup)
+project(odri_bolt_bringup)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)

bolt_bringup/launch/bolt.launch.py → odri_bolt_bringup/launch/bolt.launch.py

@@ -32,7 +32,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "runtime_config_package",
-            default_value="ros2_control_bolt_bringup",
+            default_value="bolt_bringup",
             description='Package with the controller\'s configuration in "config" folder. \
         Usually the argument is not set, it enables use of a custom setup.',
         )
@@ -47,7 +47,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ros2_description_bolt",
+            default_value="odri_bolt_description",
             description="Description package with robot URDF/xacro files. Usually the argument \
         is not set, it enables use of a custom description.",
         )

bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py → odri_bolt_bringup/launch/bolt_joint_trajectory_publisher.launch.py

@@ -22,7 +22,7 @@ def generate_launch_description():
 
     position_goals = PathJoinSubstitution(
         [
-            FindPackageShare("ros2_control_bolt_bringup"),
+            FindPackageShare("odri_bolt_bringup"),
             "config",
             "bolt_joint_trajectory_publisher.yaml",
         ]

bolt_bringup/launch/bolt_system_position_only_gazebo.launch.py → odri_bolt_bringup/launch/bolt_system_position_only_gazebo.launch.py

@@ -10,7 +10,7 @@
 def generate_launch_description():
 
     arg_world_filename = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_bolt_bringup"), "world", "bolt_world.world"]
+        [FindPackageShare("odri_bolt_bringup"), "world", "bolt_world.world"]
     )
 
     gazebo = IncludeLaunchDescription(
@@ -31,7 +31,7 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution(
                 [
-                    FindPackageShare("ros2_description_bolt"),
+                    FindPackageShare("odri_bolt_description"),
                     "urdf",
                     "system_bolt_description.urdf.xacro",
                 ]

bolt_bringup/launch/test_forward_position_controller.launch.py → odri_bolt_bringup/launch/test_forward_position_controller.launch.py

@@ -22,7 +22,7 @@ def generate_launch_description():
 
     position_goals = PathJoinSubstitution(
         [
-            FindPackageShare("ros2_control_bolt_bringup"),
+            FindPackageShare("bolt_bringup"),
             "config",
             "bolt_forward_position_publisher.yaml",
         ]

bolt_bringup/package.xml → odri_bolt_bringup/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ros2_control_bolt_bringup</name>
+  <name>odri_bolt_bringup</name>
   <version>0.0.0</version>
   <description>Package with launch files and run-time configurations for Bolt in `ros2_control`.</description>
 

bolt_description/CMakeLists.txt → odri_bolt_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ros2_description_bolt)
+project(odri_bolt_description)
 
 find_package(ament_cmake REQUIRED)
 

bolt_description/package.xml → odri_bolt_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ros2_description_bolt</name>
+  <name>odri_bolt_description</name>
   <version>0.0.0</version>
   <description>Package with URDF and description files of Bolt.</description>
 

bolt_robot/package.xml → odri_bolt_robot/package.xml

@@ -1,22 +1,21 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>ros2_control_bolt</name>
+  <name>odri_bolt_robot</name>
   <version>0.0.0</version>
   <description>Metapackage for `ros2_control` demos packages</description>
 
-  <author email="prouanet@laas.fr">Paul Rouanet</author>
+  <author email="olivier.stasse@laas.fr">Olivier Stasse</author>
 
-  <maintainer email="prouanet@laas.fr">Paul Rouanet</maintainer>
+  <maintainer email="olivier.stasse@laas.fr">Olivier Stasse</maintainer>
 
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>ros2_control_bolt_bringup</exec_depend>
-  <exec_depend>ros2_description_bolt</exec_depend>
+  <exec_depend>odri_bolt_bringup</exec_depend>
+  <exec_depend>odri_bolt_description</exec_depend>
   <exec_depend>ros2_hardware_interface_odri</exec_depend>
   <exec_depend>ros2_control_test_nodes</exec_depend>
-  <exec_depend>gazebo_ros2_control_bolt</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>