Mcbed doc refactor

.docker/Dockerfile

@@ -1,11 +1,11 @@
 ARG ROS_DISTRO="jazzy"
 FROM ros:${ROS_DISTRO}
 
-COPY . /ros2_dev/scara_tutorial_ros2
+COPY . /ros2_dev/ecat_ros2_workshop
 RUN apt update && apt upgrade -y
 RUN cd ros2_dev && \
     apt update && \
-    cd scara_tutorial_ros2 && \
+    cd ecat_ros2_workshop && \
     . /opt/ros/${ROS_DISTRO}/setup.sh && \
     rosdep install --ignore-src --from-paths . -y -r && \
     colcon build --symlink-install

.docker/Dockerfile_novnc

@@ -1,5 +1,5 @@
 ARG ROS_DISTRO="jazzy"
-FROM scara_tutorial_ros2:${ROS_DISTRO}
+FROM ecat_ros2_workshop:${ROS_DISTRO}
 
 RUN apt update
 RUN DEBIAN_FRONTEND=noninteractive apt-get install -qqy \

.docker/README.md

@@ -4,26 +4,26 @@ Provides a basic preconfigured docker container for tutorial purposes.
 To use it, make sure you have [Docker](https://docs.docker.com/get-docker/) installed, then build and run the image :
 
 ```shell
-$ docker build --tag scara_tutorial_ros2:jazzy --file .docker/Dockerfile .
-$ docker run scara_tutorial_ros2:jazzy ros2 launch scara_bringup scara.launch.py
+$ docker build --tag ecat_ros2_workshop:jazzy --file .docker/Dockerfile .
+$ docker run ecat_ros2_workshop:jazzy ros2 launch scara_bringup scara.launch.py
 ```
 
 ### Run with GUI
 To run the docker image with GUI, use the [rocker tool](https://github.com/osrf/rocker):
 ```shell
 $ sudo apt install python3-rocker
-$ rocker --net=host --x11 --devices /dev/dri --user scara_tutorial_ros2:jazzy ros2 launch scara_bringup scara.launch.py
+$ rocker --net=host --x11 --devices /dev/dri --user ecat_ros2_workshop:jazzy ros2 launch scara_bringup scara.launch.py
 ```
 
 ### Run with noVNC
-To run the docker image with noVNC, make sure that `scara_tutorial_ros2:jazzy` is built then build and run the novnc docker :
+To run the docker image with noVNC, make sure that `ecat_ros2_workshop:jazzy` is built then build and run the novnc docker :
 ```shell
-$ docker build --tag scara_tutorial_ros2:jazzy_novnc --file .docker/Dockerfile_novnc .
-$ docker run --rm -p 6080:6080 -it scara_tutorial_ros2:jazzy_novnc
+$ docker build --tag ecat_ros2_workshop:jazzy_novnc --file .docker/Dockerfile_novnc .
+$ docker run --rm -p 6080:6080 -it ecat_ros2_workshop:jazzy_novnc
 ```
 Then open your browser and navigate to `http://localhost:6080/vnc.html` to access the desktop environment. Inside the noVNC session, you can open a terminal and run:
 ```shell
-$ cd ros2_dev/scara_tutorial_ros2/
+$ cd ros2_dev/ecat_ros2_workshop/
 $ source install/setup.bash
 $ ros2 launch scara_bringup scara.launch.py
 ```
@@ -33,12 +33,12 @@ $ ros2 launch scara_bringup scara.launch.py
 ### Run with bash
 To interact with the environment, run docker using:
 ```shell
-$ docker run -it scara_tutorial_ros2:jazzy
+$ docker run -it ecat_ros2_workshop:jazzy
 ```
 and inside docker run:
 ```shell
-$ cd ros2_dev/scara_tutorial_ros2/
+$ cd ros2_dev/ecat_ros2_workshop/
 $ source install/setup.bash
 $ ros2 launch scara_bringup scara.launch.py
 ```
-The `scara_tutorial_ros2` nodes should now be running.
+The `ecat_ros2_workshop` nodes should now be running.

.docker/ros_entrypoint.sh

@@ -4,5 +4,5 @@ set -e
 # setup ros environment
 # export ROS_LOCALHOST_ONLY=1
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/ros2_dev/scara_tutorial_ros2/install/setup.bash"
+source "/ros2_dev/ecat_ros2_workshop/install/setup.bash"
 exec "$@"

.docker/ros_entrypoint_novnc.sh

@@ -15,5 +15,5 @@ set -e
 # setup ros environment
 # export ROS_LOCALHOST_ONLY=1
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/ros2_dev/scara_tutorial_ros2/install/setup.bash"
+source "/ros2_dev/ecat_ros2_workshop/install/setup.bash"
 exec "$@"

.github/workflows/deploy-docs.yml

@@ -0,0 +1,59 @@
+name: Documentation
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push events but only for the main branch
+  push:
+    branches: [ main ]
+
+  # Triggers the workflow on pull request events
+  pull_request:
+    branches: [ main ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build_documentation"
+  build_documentation:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Install dependencies
+        run: |
+          pip install --upgrade pip
+          pip install -r docs/requirements.txt
+
+      - name: Build documentation
+        run: |
+          mkdocs build --config-file docs/mkdocs.yml
+
+      - name: Create commit
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        run: |
+          git clone https://github.com/ICube-Robotics/ecat_ros2_workshop.git --branch gh-pages --single-branch gh-pages
+          cp -r docs/site/* gh-pages/
+          cd gh-pages
+          git config --local user.email "[email protected]"
+          git config --local user.name "GitHub Action"
+          git add .
+          git commit -m "Update documentation" -a || true
+
+      - name: Push changes
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: ad-m/github-push-action@master
+        with:
+          branch: gh-pages
+          directory: gh-pages
+          github_token: ${{ secrets.GITHUB_TOKEN }}

README.md

@@ -1,50 +1,112 @@
-# Scara tutorial ROS2
-The [ros2_control](https://control.ros.org) framework is a realtime control framework designed for general robotics applications that gains more and more attention both for research and industrial purposes. An overview of the ros2_control framework can be found [here](resources/r2c_overview.md).
-
-This tutorial is made to understand the basic concepts of controlling a robot using ros2_control. In particular, it describes how to :
-- [Write a URDF description of a simple SCARA manipulator](resources/urdf_tutorial.md)
-- [Launch and interact with the SCARA robot](resources/launch_tutorial.md) 
-- [Write a custom hardware interface for the SCARA robot](resources/hardware_tutorial.md)
-- [Write a custom controller for the SCARA robot](resources/controller_tutorial.md)
-- [Set up the SCARA manipulator to run with ros2_control and Gazebo](resources/gazebo_tutorial.md)
-
-![scara model](resources/scara_model.png)
-
-## Getting Started
-***Required setup : Ubuntu 24.04 LTS and ROS2 Jazzy***
-
-1.  Install `ros2` packages. The current development is based on `ros2 jazzy`. Installation steps are described [here](https://docs.ros.org/en/jazzy/Installation.html).
-2. Source your `ros2` environment:
-    ```shell
-    source /opt/ros/jazzy/setup.bash
-    ```
-    **NOTE**: The ros2 environment needs to be sourced in every used terminal. If only one distribution of ros2 is used, it can be added to the `~/.bashrc` file.
-3. Install `colcon` and its extensions :
-    ```shell
-    sudo apt install python3-colcon-common-extensions
-     ```
-3. Create a new ros2 workspace:
-    ```shell
-    mkdir ~/ros2_ws/src
-    ```
-4. Pull relevant packages, install dependencies, compile, and source the workspace by using:
-    ```shell
-    cd ~/ros2_ws
-    git clone https://github.com/ICube-Robotics/scara_tutorial_ros2.git src/scara_tutorial_ros2
-    rosdep install --ignore-src --from-paths . -y -r
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
-    source install/setup.bash
-    ```
-
-## Docker Setup (Alternative)
-For a containerized setup, see the [Docker README](.docker/README.md) for instructions on building and running the tutorial in a Docker container with ROS2 Jazzy.
-
-## Acknowledgments 
-This tutorial is partially inspired from [pac48](https://github.com/pac48/ros2_control_demos/tree/full-example-tutorial)'s tutorial and the official [ros2_control website](https://control.ros.org).
-
-## Contacts ##
-![icube](https://icube.unistra.fr/fileadmin/templates/DUN/icube/images/logo.png)
-
-[ICube Laboratory](https://icube.unistra.fr), [University of Strasbourg](https://www.unistra.fr/), France
-
-__Maciej Bednarczyk:__ [[email protected]](mailto:[email protected]), @github: [mcbed](https://github.com/mcbed)
+# SCARA ROS2 EtherCAT Workshop
+
+[![Documentation](https://img.shields.io/badge/docs-mkdocs-blue)](https://icube-robotics.github.io/ecat_ros2_workshop/)
+[![ROS2](https://img.shields.io/badge/ROS2-Jazzy-blue)](https://docs.ros.org/en/jazzy/)
+[![License](https://img.shields.io/github/license/ICube-Robotics/ecat_ros2_workshop)](LICENSE)
+
+The [ros2_control](https://control.ros.org) framework is a real-time control framework designed for general robotics applications that is gaining increasing attention for both research and industrial purposes.
+
+This comprehensive tutorial teaches the basic concepts of controlling a robot using ros2_control and EtherCAT.
+
+## 📚 Documentation
+
+**Full documentation is available at: [https://icube-robotics.github.io/ecat_ros2_workshop/](https://icube-robotics.github.io/ecat_ros2_workshop/)**
+
+## 📖 Tutorial Contents
+
+- [ros2_control Overview](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/r2c_overview/)
+- [Write a URDF description of a SCARA manipulator](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/urdf_tutorial/)
+- [Launch and interact with the SCARA robot](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/launch_tutorial/)
+- [Write a custom hardware interface](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/hardware_tutorial/)
+- [Write a custom controller](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/controller_tutorial/)
+- [Set up Gazebo simulation](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/gazebo_tutorial/)
+- [Control EtherCAT motor drives](https://icube-robotics.github.io/ecat_ros2_workshop/tutorials/ethercat_tutorial/)
+
+![SCARA Model](resources/scara_model.png)
+
+
+## 🚀 Quick Start
+
+**_Required setup: Ubuntu 24.04 LTS and ROS2 Jazzy_**
+
+### Installation
+
+1. Install ROS2 Jazzy ([installation guide](https://icube-robotics.github.io/ecat_ros2_workshop/getting-started/installation/))
+
+2. Source your ROS2 environment:
+   ```bash
+   source /opt/ros/jazzy/setup.bash
+   ```
+
+3. Install colcon:
+   ```bash
+   sudo apt install python3-colcon-common-extensions
+   ```
+
+4. Create and build workspace:
+   ```bash
+   mkdir -p ~/ros2_ws/src
+   cd ~/ros2_ws
+   git clone https://github.com/ICube-Robotics/ecat_ros2_workshop.git src/ecat_ros2_workshop
+   rosdep install --ignore-src --from-paths . -y -r
+   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+   source install/setup.bash
+   ```
+
+### Docker Setup (Alternative)
+
+For a containerized environment, see the [Docker setup guide](https://icube-robotics.github.io/ecat_ros2_workshop/getting-started/docker/).
+
+```bash
+docker build --tag ecat_ros2_workshop:jazzy --file .docker/Dockerfile .
+docker run ecat_ros2_workshop:jazzy ros2 launch scara_bringup scara.launch.py
+```
+
+## 📦 Repository Structure
+
+```
+ecat_ros2_workshop/
+├── scara_description/      # URDF and robot description files
+├── scara_hardware/         # Custom hardware interface implementation
+├── scara_controllers/      # Custom controller implementation
+├── scara_bringup/         # Launch files and configurations
+├── scara_nodes/           # Additional ROS2 nodes
+├── docs/                  # MkDocs documentation source
+└── resources/             # Tutorial resources and images
+```
+
+## 🤝 Contributing
+
+Contributions are welcome! Please feel free to submit a Pull Request.
+
+For bugs and feature requests, please open an issue on [GitHub](https://github.com/ICube-Robotics/ecat_ros2_workshop/issues).
+
+## 📄 License
+
+This project is open source. See the [LICENSE](LICENSE) file for details.
+
+
+## 👥 Contacts & Maintainers
+
+### [ICube Laboratory](https://icube.unistra.fr)
+[University of Strasbourg](https://www.unistra.fr/), France
+
+**Manuel Yguel** - [[email protected]](mailto:[email protected]) | [@yguel](https://github.com/yguel)
+
+### [Asterion Robotics](https://asterion-robotics.com)
+
+**Maciej Bednarczyk** - [[email protected]](mailto:[email protected]) | [@mcbed](https://github.com/mcbed)
+
+For more information, see the [full contacts page](https://icube-robotics.github.io/ecat_ros2_workshop/about/contacts/).
+
+---
+
+<div align="center">
+
+[![ICube](https://icube.unistra.fr/fileadmin/templates/DUN/icube/images/logo.png)](https://icube.unistra.fr)
+&nbsp;&nbsp;&nbsp;&nbsp;
+[![Asterion](https://raw.githubusercontent.com/Asterion-Robotics/assets/refs/heads/main/asterion-logo.png)](https://asterion-robotics.com)
+
+**Made with ❤️ by ICube Laboratory and Asterion Robotics**
+
+</div>