Merge branch 'main' into with-config

.gitlab-ci.yml

@@ -0,0 +1,28 @@
+# This file is a template, and might need editing before it works on your project.
+# This is a sample GitLab CI/CD configuration file that should run without any modifications.
+# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
+# it uses echo commands to simulate the pipeline execution.
+#
+# A pipeline is composed of independent jobs that run scripts, grouped into stages.
+# Stages run in sequential order, but jobs within stages run in parallel.
+#
+# For more information, see: https://docs.gitlab.com/ee/ci/yaml/#stages
+#
+# You can copy and paste this template into a new `.gitlab-ci.yml` file.
+# You should not add this template to an existing `.gitlab-ci.yml` file by using the `include:` keyword.
+#
+# To contribute improvements to CI/CD templates, please follow the Development guide at:
+# https://docs.gitlab.com/development/cicd/templates/
+# This specific template is located at:
+# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
+
+stages:          # List of stages for jobs, and their order of execution
+  - sync
+
+image: python:3.10
+
+sync-docs-job:       # This job runs in the build stage, which runs first.
+  stage: sync
+  script:
+    - pip install confluence.md
+    - confluence.md --user $CU_USER --token $CU_SECRET --url https://imek.atlassian.net update --file README.md --page_id 1134493746 --title "$(head -n1 README.md | cut -d' ' -f2-)"

README.md

@@ -53,13 +53,13 @@ This command builds the container defined in [`URSim/Dockerfile`](./URSim/Docker
 The same can be done for the ROS 2_Humble container
 
 ```bash
-docker build -t ros2_humble:latest ROS2_Humble
+docker build -t ros2_humble:latest ROS2_humble
 ```
 
 After all the containers are successfully built and the bridge network is established we can now start both containers. On one terminal run the following command to start the URSim container
 
 ```bash
-docker run -it --name URSIM -p 6080:6080 -p50002:50002 --network ros_ursim ursim:latest
+docker run -it --name URSIM -p 6080:6080 -p8000:8000 -p7000:7000 -p5005:5005 -p50002:50002 -v./workspace:/workspace --network ros_ursim ursim:latest
 ```
 
 When successfully started this container will print its IP address in the terminal.  Note this down:

ROS2_humble/Dockerfile

@@ -3,4 +3,4 @@ FROM osrf/ros:humble-desktop-full
 RUN apt-get -y update
 RUN apt-get -y upgrade
 RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping python3-pip
-RUN pip install numpy scipy spatialmath-python roboticstoolbox-python osc4py3
+RUN pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python roboticstoolbox-python osc4py3

workspace/.gitignore

@@ -1,3 +1,6 @@
+build/*
 build/**
+install/*
 install/**
+log/*
 log/**

workspace/src/osc_ros2/setup.py

@@ -14,10 +14,10 @@ setup(
     install_requires=[
         'setuptools',
         'osc4py3',
-        'roboticstoolbox-python==1.1.1',
+        'roboticstoolbox-python',
         'numpy==1.22.4',
         'scipy==1.7.3',
-        'spatialmath-python==1.1.14'],
+        'spatialmath-python'],
     zip_safe=True,
     maintainer='Alexander Schaefer',
     maintainer_email='a.schaefer@tuhh.de',