From 61237fb4e0e7b9792590f4c7d9239c8a93114870 Mon Sep 17 00:00:00 2001
From: bmagyar <bmagyar@users.noreply.github.com>
Date: Mon, 8 Apr 2024 05:32:24 +0000
Subject: [PATCH] deploy: 55de5eab39b383bd6e83d5d3a11943086b1101d8

---
 foxy/.buildinfo                               |   2 +-
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 .../doc/contributing/contributing.doctree     | Bin 24361 -> 24361 bytes
 .../differences_to_ros1.doctree               | Bin 34748 -> 34748 bytes
 .../getting_started/getting_started.doctree   | Bin 50559 -> 50559 bytes
 foxy/.doctrees/doc/project_ideas.doctree      | Bin 38260 -> 38260 bytes
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 foxy/.doctrees/environment.pickle             | Bin 653946 -> 653946 bytes
 foxy/.doctrees/index.doctree                  | Bin 28593 -> 28593 bytes
 foxy/index.html                               |   2 +-
 foxy/searchindex.js                           |   2 +-
 galactic/.buildinfo                           |   2 +-
 .../acknowledgements/acknowledgements.doctree | Bin 7434 -> 7434 bytes
 .../doc/contributing/contributing.doctree     | Bin 24361 -> 24361 bytes
 .../differences_to_ros1.doctree               | Bin 34748 -> 34748 bytes
 .../getting_started/getting_started.doctree   | Bin 50559 -> 50559 bytes
 galactic/.doctrees/doc/project_ideas.doctree  | Bin 38260 -> 38260 bytes
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 galactic/.doctrees/environment.pickle         | Bin 682309 -> 682309 bytes
 galactic/.doctrees/index.doctree              | Bin 28609 -> 28609 bytes
 galactic/index.html                           |   2 +-
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 humble/.buildinfo                             |   2 +-
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 .../doc/contributing/contributing.doctree     | Bin 25325 -> 25325 bytes
 .../differences_to_ros1.doctree               | Bin 34672 -> 34672 bytes
 .../doc/gazebo_ros2_control/doc/index.doctree | Bin 39649 -> 39649 bytes
 .../getting_started/getting_started.doctree   | Bin 56166 -> 56166 bytes
 .../doc/gz_ros2_control/doc/index.doctree     | Bin 37939 -> 37939 bytes
 humble/.doctrees/doc/project_ideas.doctree    | Bin 29987 -> 29987 bytes
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 .../ros2controlcli/doc/userdoc.doctree        | Bin 31356 -> 31356 bytes
 .../doc/ros2_control_demos/doc/index.doctree  | Bin 50241 -> 50241 bytes
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 humble/.doctrees/environment.pickle           | Bin 3559084 -> 3559078 bytes
 humble/.doctrees/index.doctree                | Bin 27593 -> 27593 bytes
 .../acknowledgements/acknowledgements.html    | 588 +++++++++---------
 humble/index.html                             |   2 +-
 humble/searchindex.js                         |   2 +-
 iron/.buildinfo                               |   2 +-
 .../acknowledgements/acknowledgements.doctree | Bin 1211543 -> 1211537 bytes
 .../doc/contributing/contributing.doctree     | Bin 25325 -> 25325 bytes
 .../differences_to_ros1.doctree               | Bin 34672 -> 34672 bytes
 .../doc/gazebo_ros2_control/doc/index.doctree | Bin 39649 -> 39649 bytes
 .../getting_started/getting_started.doctree   | Bin 57114 -> 57114 bytes
 .../doc/gz_ros2_control/doc/index.doctree     | Bin 37940 -> 37940 bytes
 iron/.doctrees/doc/project_ideas.doctree      | Bin 29987 -> 29987 bytes
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 .../doc/controller_chaining.doctree           | Bin 25454 -> 25454 bytes
 .../controller_manager/doc/userdoc.doctree    | Bin 29330 -> 29330 bytes
 .../doc/ros2_control/doc/index.doctree        | Bin 6372 -> 6372 bytes
 .../different_update_rates_userdoc.doctree    | Bin 29642 -> 29642 bytes
 .../doc/hardware_components_userdoc.doctree   | Bin 21668 -> 21668 bytes
 .../hardware_interface_types_userdoc.doctree  | Bin 27199 -> 27199 bytes
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 .../example_9/doc/userdoc.doctree             | Bin 36633 -> 36633 bytes
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 .../doc/userdoc.doctree                       | Bin 9921 -> 9921 bytes
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 .../effort_controllers/doc/userdoc.doctree    | Bin 8222 -> 8222 bytes
 .../doc/userdoc.doctree                       | Bin 18499 -> 18499 bytes
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 .../gripper_controllers/doc/userdoc.doctree   | Bin 13834 -> 13834 bytes
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 .../doc/parameters.doctree                    | Bin 43409 -> 43409 bytes
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 .../doc/userdoc.doctree                       | Bin 44029 -> 44029 bytes
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 .../doc/userdoc.doctree                       | Bin 14780 -> 14780 bytes
 .../doc/userdoc.doctree                       | Bin 3871 -> 3871 bytes
 .../doc/userdoc.doctree                       | Bin 39929 -> 39929 bytes
 .../tricycle_controller/doc/userdoc.doctree   | Bin 30728 -> 30728 bytes
 .../doc/userdoc.doctree                       | Bin 10475 -> 10475 bytes
 .../velocity_controllers/doc/userdoc.doctree  | Bin 8292 -> 8292 bytes
 .../doc/simulators/simulators.doctree         | Bin 7042 -> 7042 bytes
 .../supported_robots/supported_robots.doctree | Bin 23621 -> 23621 bytes
 iron/.doctrees/environment.pickle             | Bin 3595473 -> 3595467 bytes
 iron/.doctrees/index.doctree                  | Bin 27549 -> 27549 bytes
 .../acknowledgements/acknowledgements.html    | 588 +++++++++---------
 iron/index.html                               |   2 +-
 iron/searchindex.js                           |   2 +-
 master/.buildinfo                             |   2 +-
 .../acknowledgements/acknowledgements.doctree | Bin 1211543 -> 1211537 bytes
 .../doc/contributing/contributing.doctree     | Bin 25325 -> 25325 bytes
 .../doc/gazebo_ros2_control/doc/index.doctree | Bin 41073 -> 41073 bytes
 .../getting_started/getting_started.doctree   | Bin 52209 -> 52209 bytes
 .../doc/gz_ros2_control/doc/index.doctree     | Bin 38642 -> 38642 bytes
 .../doc/migration/differences_to_ros1.doctree | Bin 34666 -> 34666 bytes
 .../.doctrees/doc/migration/migration.doctree | Bin 4874 -> 4874 bytes
 master/.doctrees/doc/project_ideas.doctree    | Bin 29987 -> 29987 bytes
 .../.doctrees/doc/resources/resources.doctree | Bin 85475 -> 85475 bytes
 .../doc/resources/roscon2023_workshop.doctree | Bin 15191 -> 15191 bytes
 .../doc/controller_chaining.doctree           | Bin 27598 -> 27598 bytes
 .../controller_manager/doc/userdoc.doctree    | Bin 36515 -> 36515 bytes
 .../doc/ros2_control/doc/index.doctree        | Bin 6372 -> 6372 bytes
 .../ros2_control/doc/migration/Foxy.doctree   | Bin 15311 -> 15311 bytes
 .../ros2_control/doc/migration/Iron.doctree   | Bin 10674 -> 10674 bytes
 .../different_update_rates_userdoc.doctree    | Bin 29658 -> 29658 bytes
 .../doc/hardware_components_userdoc.doctree   | Bin 8564 -> 8564 bytes
 .../hardware_interface_types_userdoc.doctree  | Bin 28533 -> 28533 bytes
 .../doc/mock_components_userdoc.doctree       | Bin 17549 -> 17549 bytes
 .../writing_new_hardware_component.doctree    | Bin 65671 -> 65671 bytes
 .../ros2controlcli/doc/userdoc.doctree        | Bin 31078 -> 31078 bytes
 .../doc/ros2_control_demos/doc/index.doctree  | Bin 50243 -> 50243 bytes
 .../doc/run_from_docker.doctree               | Bin 3337 -> 3337 bytes
 .../example_1/doc/userdoc.doctree             | Bin 82059 -> 82059 bytes
 .../example_10/doc/userdoc.doctree            | Bin 36838 -> 36838 bytes
 .../example_11/doc/userdoc.doctree            | Bin 34101 -> 34101 bytes
 .../example_12/doc/userdoc.doctree            | Bin 48925 -> 48925 bytes
 .../example_14/doc/userdoc.doctree            | Bin 37903 -> 37903 bytes
 .../example_2/doc/userdoc.doctree             | Bin 38580 -> 38580 bytes
 .../example_3/doc/userdoc.doctree             | Bin 46764 -> 46764 bytes
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 .../example_6/doc/userdoc.doctree             | Bin 33191 -> 33191 bytes
 .../example_7/doc/userdoc.doctree             | Bin 106731 -> 106731 bytes
 .../example_8/doc/userdoc.doctree             | Bin 31438 -> 31438 bytes
 .../example_9/doc/userdoc.doctree             | Bin 31614 -> 31614 bytes
 .../doc/userdoc.doctree                       | Bin 11532 -> 11532 bytes
 .../admittance_controller/doc/userdoc.doctree | Bin 48384 -> 48384 bytes
 .../doc/userdoc.doctree                       | Bin 9921 -> 9921 bytes
 .../diff_drive_controller/doc/userdoc.doctree | Bin 51387 -> 51387 bytes
 .../doc/controllers_index.doctree             | Bin 16068 -> 16068 bytes
 .../doc/writing_new_controller.doctree        | Bin 60989 -> 60989 bytes
 .../effort_controllers/doc/userdoc.doctree    | Bin 8222 -> 8222 bytes
 .../doc/userdoc.doctree                       | Bin 18515 -> 18515 bytes
 .../doc/userdoc.doctree                       | Bin 12877 -> 12877 bytes
 .../gripper_controllers/doc/userdoc.doctree   | Bin 13842 -> 13842 bytes
 .../doc/userdoc.doctree                       | Bin 16591 -> 16591 bytes
 .../doc/userdoc.doctree                       | Bin 24581 -> 24581 bytes
 .../doc/parameters.doctree                    | Bin 41661 -> 41661 bytes
 .../doc/trajectory.doctree                    | Bin 38596 -> 38596 bytes
 .../doc/userdoc.doctree                       | Bin 44037 -> 44037 bytes
 .../pid_controller/doc/userdoc.doctree        | Bin 34883 -> 34883 bytes
 .../position_controllers/doc/userdoc.doctree  | Bin 8292 -> 8292 bytes
 .../doc/userdoc.doctree                       | Bin 14796 -> 14796 bytes
 .../doc/userdoc.doctree                       | Bin 3871 -> 3871 bytes
 .../doc/userdoc.doctree                       | Bin 39929 -> 39929 bytes
 .../tricycle_controller/doc/userdoc.doctree   | Bin 30728 -> 30728 bytes
 .../doc/userdoc.doctree                       | Bin 10475 -> 10475 bytes
 .../velocity_controllers/doc/userdoc.doctree  | Bin 8292 -> 8292 bytes
 .../doc/simulators/simulators.doctree         | Bin 7042 -> 7042 bytes
 .../supported_robots/supported_robots.doctree | Bin 23621 -> 23621 bytes
 master/.doctrees/environment.pickle           | Bin 3697948 -> 3697942 bytes
 master/.doctrees/index.doctree                | Bin 27539 -> 27539 bytes
 .../acknowledgements/acknowledgements.html    | 588 +++++++++---------
 master/index.html                             |   2 +-
 master/searchindex.js                         |   2 +-
 248 files changed, 897 insertions(+), 897 deletions(-)

diff --git a/foxy/.buildinfo b/foxy/.buildinfo
index dfc9c521e9f..487e8af252c 100644
--- a/foxy/.buildinfo
+++ b/foxy/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: cf8ea50ca86ee4ad082bfcfc78073f9e
+config: e7d3246817a20f452339062fab30d21d
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/foxy/.doctrees/doc/acknowledgements/acknowledgements.doctree b/foxy/.doctrees/doc/acknowledgements/acknowledgements.doctree
index 9eea66ebbd839b6785825d010dccc7cf951f1017..ac2982cfb5b72b6f07f70bd0c0054d04b4728eca 100644
GIT binary patch
delta 66
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delta 66
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diff --git a/foxy/.doctrees/doc/contributing/contributing.doctree b/foxy/.doctrees/doc/contributing/contributing.doctree
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GIT binary patch
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delta 64
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GIT binary patch
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delta 64
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diff --git a/foxy/.doctrees/doc/getting_started/getting_started.doctree b/foxy/.doctrees/doc/getting_started/getting_started.doctree
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GIT binary patch
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delta 64
zcmez0#r(gEd4mC?p-FO4VR}w{wtkw4p^=4gnq{)7X_}#-rCCa1s*zEmskxCsvQbK6
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diff --git a/foxy/.doctrees/doc/project_ideas.doctree b/foxy/.doctrees/doc/project_ideas.doctree
index bc4632ae9e6451477f74b30670618851cdad7a7e..a3b2a181a08391bdc9771faca7528e85e66a5ad1 100644
GIT binary patch
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delta 64
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GIT binary patch
delta 68
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delta 68
zcmX@v!*a5RWrGT%p-FO4VR}w{wtkw4p^=4gnq{)7X_}#-rCCa1s*zEmskxCsvQbK6
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diff --git a/foxy/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree
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GIT binary patch
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delta 62
zcmezE{@Z<n8>68~a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=5odsB><Rg6SM#T

diff --git a/foxy/.doctrees/doc/ros2_control/doc/index.doctree b/foxy/.doctrees/doc/ros2_control/doc/index.doctree
index b856e6f7cbd5657bd35ca49c925b16a934bca19e..c8b4e032041eb23439080ccf1211f78621325ce9 100644
GIT binary patch
delta 62
zcmX@5cS>)A9iw4(p;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=6uH6q5w?W5(WSO

delta 62
zcmX@5cS>)A9iyR1a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=6uH6q5yOg6IuWO

diff --git a/foxy/.doctrees/doc/ros2_control/hardware_interface/doc/fake_components_userdoc.doctree b/foxy/.doctrees/doc/ros2_control/hardware_interface/doc/fake_components_userdoc.doctree
index 39e696d3d8c6d76c056f47ef8cb88b8326feaefd..945ce5ddd792d5b7cc22c4ec5b73d0ef9bdf1311 100644
GIT binary patch
delta 62
zcmcbcc{g)|1EXPfp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=0e6CV*qhW5>)^I

delta 62
zcmcbcc{g)|1EZlya#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=0e6CV*r?g6R7|I

diff --git a/foxy/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index e13f07f6bad7270a32e682e35eeaaf4efbc165c5..ac8cdb017557a42a7e96394e75ae79ebbf115504 100644
GIT binary patch
delta 64
zcmdmYka6EZ#tn9ihS`N?c{%y1iTVZxiRNae1}4U)#))QzMn)Ev=BCDm21aHE$(Dv@
T$!19gDVCPTiOHMu8U5n{kTnw2

delta 64
zcmdmYka6EZ#tn9ih9=2Hh3Pr*+4^ZFhDH{~X_m>RrfG(TmS!o5sYXVLrshTl$wn!O
TDHch_1{UTiiI$u58U5n{w`~+C

diff --git a/foxy/.doctrees/doc/ros2_control_demos/doc/index.doctree b/foxy/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 77a1c408d6ade3c38aa8c34d21fd96e475c4460b..7cf163c7c36e74f95f640f8895377ca0932f67ef 100644
GIT binary patch
delta 62
zcmV~$(FuSs3<W?skuQmTHRHr6ekh9IV1nax8Si@bd|70_c^=mq0}zcBqg4xv>g27O
QK#6o=a>n9rk>6Gx{A)52HUIzs

delta 62
zcmcbed^>rA8Ka>|a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=5)pq0|1h06N&%;

diff --git a/foxy/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree
index bc8fd45d2083611b66ceaa8c226ce3d4f37858aa..05ed3bb8092f0a3cde6a8c089367fc309365e9f4 100644
GIT binary patch
delta 62
zcmdn4vt4I{52Imrp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=32&GA^=735!L_z

delta 62
zcmdn4vt4I{52K+;a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=32&GA^>eD6Dj}z

diff --git a/foxy/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/foxy/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index f47e267882992233656dd0c18b624874f70c9f2c..6368823f9dd0b268ddb3320c9688e0413327faf9 100644
GIT binary patch
delta 71
zcmdm$vMXhS2BT4Sp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
bl0k~4rEy}i{$vLw(a95}MK`xFZZiM?1;G^5

delta 71
zcmdm$vMXhS2BVQla#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
blCgn>c}k+C{$vLw(a95}MK`xFZZiM?IPDfF

diff --git a/foxy/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/foxy/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 28d815d9b477808d9965192b29a56fb7cb4b8efd..e5e2e5c18a7454c4ad704e593b1355f927adee4e 100644
GIT binary patch
delta 64
zcmbPwg?Z`~<_!*vhS`N?c{%y1iTVZxiRNae1}4U)#))QzMn)Ev=BCDm21aHE$(Dv@
U$!19gDVCPTiOHJ_8JD~O0Eh4sjsO4v

delta 64
zcmbPwg?Z`~<_!*vh9=2Hh3Pr*+4^ZFhDH{~X_m>RrfG(TmS!o5sYXVLrshTl$wn!O
UDHch_1{UTiiI$rS8JD~O0Iw(%;s5{u

diff --git a/foxy/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index ae9c0707c05ececa68fd0c6b3a0df7ade0c3bf48..be824867b553e9bacd8678290861eb94fef9155c 100644
GIT binary patch
delta 62
zcmbQEFh^m78>3-%p;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=5ofRd;l@j5n%uT

delta 62
zcmbQEFh^m78>68~a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=5ofRd;nPt614yT

diff --git a/foxy/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 50fcede42324f4ecda65bc4f9cfb4f94b91e8275..53a2882b11f30ae6d89f2adeda88a2d3073eb86a 100644
GIT binary patch
delta 62
zcmccUe9?JB0;6Gep;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=823B3IJgE5%K^4

delta 62
zcmccUe9?JB0;8cxa#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=823B3IK>O6Gi|4

diff --git a/foxy/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index c6ef41d81d8e6b66f0ca9ec4883a576a7b2cbd25..000f3ccf3f8e3945d670da9aaea927a426cb9381 100644
GIT binary patch
delta 62
zcmaE&@I+xl7^7i!p;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=61%rd;nNv5=j66

delta 62
zcmaE&@I+xl7^9&{a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=61%rd;ou(6P*A6

diff --git a/foxy/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree
index 0f000b901077bb514f5ff42b6ead78f783dc39f5..1df6dcb7114bf8f9a86fe0970d3220382a131722 100644
GIT binary patch
delta 62
zcmZqIYuDT0$7q;cXqK0gpPHy|V325TW@=z!Y-*fnW@uz&VQFq^Y-nI)W{_-YXqIf2
RWRPNMX`Gn6xt_5@6aX+65lsL9

delta 62
zcmZqIYuDT0$7pDhTvV8z6Q8Z0W@2b$VVq`}Y-*ZjXlQAcl9*~_lxS*hWRPr>l9*zV
RWNctzo|0&}xt_5@6aZIG5}^P9

diff --git a/foxy/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index cc4febd2aa2a737ba6c7d90f8251bd25fcd1c0e1..4b4ed8a9845f72d67d67cd4c4171ad1d7bbc8686 100644
GIT binary patch
delta 62
zcmZ2&yV`a`0Ha}cp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=0-*>SpY~45n%uT

delta 62
zcmZ2&yV`a`0HdKva#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=0-*>SpaWE614yT

diff --git a/foxy/.doctrees/doc/ros2_controllers/joint_state_controller/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/joint_state_controller/doc/userdoc.doctree
index 2fb6d36ee03efaa7a3ce5cff36720f72462823de..fb908c1e53f4e5dd64cdffe1617d88b8dbef793b 100644
GIT binary patch
delta 62
zcmaE<@ls=hAERM*p;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=6c3gLI7O65@Y}X

delta 62
zcmaE<@ls=hAETj3a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=6c3gLI8vG6Sx2X

diff --git a/foxy/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index f59089193e3f8f9d7a1402bcb026cd6cd535ba1e..b21e438b75da4d895b28e6f9488487637f6f6836 100644
GIT binary patch
delta 64
zcmccD&UCMxX+s2~VRoTeUQT{$qP~GaqPdx=fr+uHaiW=_k&%U^xv8<CfsvU(vZbL}
TvRRTrilwD-V)Eur#?U4JiqR7P

delta 64
zcmccD&UCMxX+s2~p-FO4VR}w{wtkw4p^=4gnq{)7X_}#-rCCa1s*zEmskxCsvQbK6
TibayKfrWWWqUGjJ#?U4JvI!JZ

diff --git a/foxy/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index 9612af69845bc52073f8665abdff0c7b6d27a9f0..72131ab7672fa4414e0819b60d3498cdca2369de 100644
GIT binary patch
delta 62
zcmdm`uuEZs7o%Zzp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=4!_Md;md65x)Qc

delta 62
zcmdm`uuEZs7o(v`a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=4!_Md;n;G6B7Uc

diff --git a/foxy/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index 3d4aaf910729e0fddddc10ba5818af1d6813c080..0a8563273e480a5a77564afb9225d8b99c5e5238 100644
GIT binary patch
delta 62
zcmbQMF;`=Q2cuzjp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=1RsTLI5_35qbas

delta 62
zcmbQMF;`=Q2cw}$a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=1RsTLI7RD63zes

diff --git a/foxy/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/foxy/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index 4bca0768497cf3d6631191621f924aa76662d84e..8892d7ecb8dacf66ccc0542002cd9ff13d660904 100644
GIT binary patch
delta 62
zcmdm`uuEZs7o%Zzp;=x|erlq=fkC3VnW=$^v8i#QnW2%9g{8Tvv7v#HnL)Cpp;@w7
Rl0k~4rEy~N=4!_Md;md65x)Qc

delta 62
zcmdm`uuEZs7o(v`a#3M=PJFh0nu(#2g>jl?vZ-mBp`oQ&N@A*!QKG52kwLOiN@9vd
RlCgn>c}k+?=4!_Md;n;G6B7Uc

diff --git a/foxy/.doctrees/environment.pickle b/foxy/.doctrees/environment.pickle
index 17d24cb0776ece58f718419f2cb5eddbe91ef40c..7a146cf90a95cb5e87e7b87513bd23f51d9a4673 100644
GIT binary patch
delta 13924
zcmeHNd3aRCvgd@EoN1DfOqR*M0SO69GE0_8AR7b(q9H7@8j>L!86XLpC<1}22nm6N
zbg%^!M7YYs1rT)<MOhRtB8w=3in4f>gnbK}EU&72<^bQ-cOl=q@4fqd?+>P{eqCLs
zx=wd3C)~K)@y6wjb-$R#PDm&lS6*aksEN|+Er|*7`Z!a($&z3&8qG<G@g{@bn4m96
zG9(lvjMf(>C7CP*R3|;5aje@oO&adq#vG=PPc|8n4MzHtPhh2EGWJ1LHq?+w<x?gW
z6cv_EY^doLJ9&Hs{(ERWu`!^joKDq^?$M&Pn!@seGRyd)Ne#ITQ8YtuqFn-YG|w-b
z&hDB>r-tZgTC6XPjc}p6ElIR8TE{$6HDUB{tQXx9qNX_!DpoO8<4HY-8tB^{qiIHz
zLGoqCz9hbMLW+sz1clSsQSsCo97%f?>1a+!5ZyP(jqdUDq~)1j^jw+?UH62RRt)i@
zX?4D>8)`Z;!vWHnR!8y&;M06)s-Fwp5YUreF?MlQmzEV4Jw;b0deQWl_B17|J00)e
zi8i+PrahulsB3_Zt}phW>kO_mFEoP|%ul9!lg%*VPCC$<$OLL!*o{gtF?9PVEqx`k
zE6l5DU8yUri|z=!Po$q!x2Fe#v|zj|ofRmvuwW-O)pv6R7wA~%Arek^C(F2kt-r3;
zvRn0X8(Qh>N*DCka;NCCI?#QA2D&OS4(u^fQ(*!<JRq1J@0>z2ileA+c%QrHC!TIi
z_quz23<<_0bDXK5Fur(n68sby3KJ5F3d{*{@o|QtIE#L?A*nE~D4}7@#y>bU54svo
z&6xLUddH3_A72zZaY`BeJ-lC%a(*60%ZLB6WAop3Wa#AfDSvWoq@FZ?NL0O<(37LR
zX)ntkpP|ZVHEk1Sdf+qk&(F`E&_volOZ{J-lF%-h$|*7a!zn2;jZQKZT1M;PEEo$+
z217CYD=?Z(Mzh(JSYS*_v?LT1|Jf;du+`#}WZpd`ce?bs_mn)i7Jf?Bw>QHr*3q%X
zuC#J=5>4&ZlU^(eqZ6Yd=`ZH=`(i>$Di1W`>epIQ@f}jvU@hI3Ak+1ADtaSUOP%T+
z0Y%lO!ZHz}*yN&#lW0bf9}S2LqUDdcQK_T@-Pk*fp3QZqwV7&qqO+OS^!KFcqdL$Y
za1{$;&4BCJ`F<KgM|KOP9~t84(ilBWdBmaHjjk9D0WZ~^P6x~*J(3<CqNDmOZ+b4p
zjV6br(7O0Adcx>Vrv_lG!B}E~nB+;%clV>?%(y0yZpn1}gE;eqJx27QTg(v4K!05~
z9z*E|U8Ctssp)imyt`x%i9bd3avb9erG9j(3Eifnd%Jbw7JdL0q(Rieu<VF{Xz9_I
zaJnE@N6+=^OjA;|^+q)vpBqMR<Y&>LY2E1T&hhl)!5MUKXaWuD83hJud0@qW^^U#=
z9Y5R=2z~ftMkc%eLuzmh?n>YF52H0DC>stA#24j3fA8xKZ&gdz=Y-N#2|@f##P)LM
zdbWTbi03?bk28yB932&Y?~TmncDsz}OlSGw&D6nb?Wic9U+m5!`+Q%B<O379(#<A!
zi11p7<N-Wse9*NorK7^>(S!)_YzQ0)S2{I4UAb3=r2C_<DNbKpoK$QsG8PxanGI%>
zKFMGyOfVJe^#yUp1hdIvOf)3u3;+0DJ?Lt2uX^0QSMzo8bY6z`?%jGAP5*zl9_DV{
zbFUx*N6=Z>TH2;}3_TLj^I<Pn|13!B|NMe2%GT3;g%5wp990S4XGab8Z*|db4ZbIV
z8SlSn2BSVPQJ*y07+<7MDooNFEQ#h~eX-F}P?VHl)ay-gmg0o?gt$MxXb-yj4-!~B
z^&H}L_o6+Fra!r8(X=qXgQMm>U(`;?XL$?Mw7FJGL-X3unFY>tdnu%q|K+^q=L_|I
z?D*1>iI&Nw<z;s%o;4lS`Tumn!=n9Akvk0;?ncLr=}S$yB5OnP`?E``9V!}-Lq!45
z1Lz(o8~)$Duu^+^q1FdZipReuN2a7caDMbEnlhzEJ-NKl@^nLuYevPyFui%>OzYH8
zW~rB<CW;86+ZUMW%ku+x0X1O|rv3!c6_)k(V=JzyyExSZz<vU#E-ix>Mc7pB&Wy$m
zkB&+9W9~nZ5W1~8f_GtF3%s!-b5uDqM*Hy|OVdzeZ}lwmyVJY{k+crVKWxdi)C{CG
z3nxk^>79j9&ZkwaTGhm|ifyE`95Zp!<Ob^%npYbm-J%O?+euAyLv6Bjo1U(Xa6X5U
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zgREhpFBY;L)YgmkSvo7(hb;_|J)EqK)W0FN@+3@HRciP_zgg8tT|vqjsar_NNHrm)
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z(2doy+a$p?a?X2};C|=ai#vd$4NLkGJVmt)Q8gxNsPUl{t7Q7!8@^5rHB?%z12&NA
zmWEL4(rmbdA1=+1(Ul-h?<_OW3CsFWr)AI6z034e|5Ax`a^s6HnI(hr?cqVcpKX+u
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z?9ta%Yg=N%hCL*f)lQI&wyHHMZ9D0l*wM}}Rj;-{9VD?(c4v;dtF395YD639oGtS^
zRcUJ&-~L{;LzXTH?W>NdR<}eue0qXR6lB|cTs7E5x@7Y_tNKU-<DM(3;W$R!QLPMO
zTlPq?>{_7u)rWtr)KX_)%j@MBTc=?4dnHmcn=nRWVqSC9i(6u^$cb%j;E_C&bVF=@
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zcmez0#r(gEd4mC?p-FO4VR}w{w!U$)S)xIrsj-Enabl9Gg`t^=af-Qlno*LaiE*-_
TnWagRv8AO^qQ&M!M!6#ZuTvAH

diff --git a/galactic/.doctrees/doc/project_ideas.doctree b/galactic/.doctrees/doc/project_ideas.doctree
index bc3195097c1e503a0ebabe8a60262336fa9423bf..09df734aa231f916c932ce6593ee30f49a42ae5b 100644
GIT binary patch
delta 64
zcmeyeis{QLrVTobhS`N?c{%y1iTZ|SMwS*P#>pwBX-SqqBGoX(%q%t8!py|f#4yz)
S(ICmtGQ}j-Y;!E5_!I!hz!X~m

delta 64
zcmeyeis{QLrVTobh9=2Hh3Pr*+4{!GW{C!grp6YQ#)(O$7KUaf#wq6JX+}wwCdSEz
UW|k&N#+H^wi58n<8O5gn0Jo_VjsO4v

diff --git a/galactic/.doctrees/doc/resources/resources.doctree b/galactic/.doctrees/doc/resources/resources.doctree
index de0959fa98d2c7479188432cda590430c7700d7e..1332f9f6e16718538d03e3584d9e3c07737aef34 100644
GIT binary patch
delta 68
zcmX@v!*a5RWrGT%VRoTeUQT{$qQ0S-k)?%+adL`jT9PG@NHt6`GfPdjFf%bVF-$c{
WG)OYEOfg9{YYt`H9?Ho0g#`fi9TeyQ

delta 68
zcmX@v!*a5RWrGT%p-FO4VR}w{w!U$)S)xIrsj-Enabl9Gg`t^=af-Qlno*LaiE*-_
XnWagRv8AO^qD6Bk<MvQS#xE=Y;nEZv

diff --git a/galactic/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree
index 1c275dc7ba9aa73b327b5f217b9d069503098bd2..7ac570bd65ab055658426ebdc41d0b0cb4d521e2 100644
GIT binary patch
delta 62
zcmX>abu?;&8>3-%p;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC&Uj860FFZw+W-In

delta 62
zcmX>abu?;&8>68~a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=5oe!+5mkl6Al0X

diff --git a/galactic/.doctrees/doc/ros2_control/doc/index.doctree b/galactic/.doctrees/doc/ros2_control/doc/index.doctree
index 4d3635551ac018742d178b09044bbeb15f0ef2a5..727c8f79a88f29d2623bb8a9030278a821280a83 100644
GIT binary patch
delta 62
zcmdm_ze#_C9iw4(p;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2M?&*&@$0B!mbuK)l5

delta 62
zcmdm_ze#_C9iyR1a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=6ptHF#ufS5#j&<

diff --git a/galactic/.doctrees/doc/ros2_control/hardware_interface/doc/fake_components_userdoc.doctree b/galactic/.doctrees/doc/ros2_control/hardware_interface/doc/fake_components_userdoc.doctree
index f35e09aad2632f5beb6c51a3bf119106f53a5658..d9be8fedf41d4d6ef6e0028e94282bd109ec68bb 100644
GIT binary patch
delta 62
zcmcbcc{g)|1EXPfp;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC$e3dc0G^Q(!vFvP

delta 62
zcmcbcc{g)|1EZlya#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=0e6CV*rhM67~Q9

diff --git a/galactic/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree b/galactic/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree
index ec1b76a8912ac3598dcc460cd6bc81354716965a..0dde36f13036f64736b817e22f76f1b992b98084 100644
GIT binary patch
delta 64
zcmZpl%h*1baf1h=VRoTeUQT{$qQ0S-k)?%+adL`jT9PG@NHt6`GfPdjFf%bVF-$c{
SG)OYEOfg9{+g!=W=L-OnA`?vj

delta 64
zcmZpl%h*1baf1h=p-FO4VR}w{w!U$)S)xIrsj-Enabl9Gg`t^=af-Qlno*LaiE*-_
TnWagRv8AO^qQ&M)Mm}Evf(sIW

diff --git a/galactic/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index 727bf75d7733685c4bc19039d3225e79dab1f88f..4bd613eba7890e73cd944bc3ea568c8f2f7efcb1 100644
GIT binary patch
delta 64
zcmcb)jq&C-#tn9ihS`N?c{%y1iTZ|SMwS*P#>pwBX-SqqBGoX(%q%t8!py|f#4yz)
S(ICmtGQ}j-Y;!*2t4ILGkrej;

delta 64
zcmcb)jq&C-#tn9ih9=2Hh3Pr*+4{!GW{C!grp6YQ#)(O$7KUaf#wq6JX+}wwCdSEz
UW|k&N#+H^wi58pl8DB*L0JVA)DgXcg

diff --git a/galactic/.doctrees/doc/ros2_control_demos/doc/index.doctree b/galactic/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 1022ac262d9e5d082377598cab5dea88da3d9d43..da97c2531cce78a168761b115392af1b1857057a 100644
GIT binary patch
delta 62
zcmcbebUSH-8KYr#p;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2M?&iF+i0GR(2ApigX

delta 62
zcmcbebUSH-8Ka>|a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=5)p{`T&RM6I1{I

diff --git a/galactic/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree
index 06aad309d8b95e58055df191fdb8373f75925afb..ecaeafd4d6ff08ac1e81b86b330b316923ed5a84 100644
GIT binary patch
delta 62
zcmdn4vt4I{52Imrp;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC%eYGf0CP4IL;wH)

delta 62
zcmdn4vt4I{52K+;a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=32&GA^>6^5_bRq

diff --git a/galactic/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/galactic/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index 915a58ea177c424be99bf22af84654db1511fc9a..aa0b8690ac49a5444e2be9a50b6d91ef99043beb 100644
GIT binary patch
delta 66
zcmX?<ekgr|2BTqip;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
UGPF!FNj00yC?~bKn9<(|0N9NbApigX

delta 66
zcmX?<ekgr|2BV=#a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
VNs_UprBR~AWJWou&BcuVMgYV@6I1{I

diff --git a/galactic/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/galactic/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 72c5f6f0a34d42014cc14c6fcd0df58aa85e218c..21095d60f3937459100fc4d3cdd0937eb0e13dea 100644
GIT binary patch
delta 64
zcmZ2^g?Z%_<_!*vhS`N?c{%y1iTZ|SMwS*P#>pwBX-SqqBGoX(%q%t8!py|f#4yz)
S(ICmtGQ}j-Y;z&wju!yGA{96Q

delta 64
zcmZ2^g?Z%_<_!*vh9=2Hh3Pr*+4{!GW{C!grp6YQ#)(O$7KUaf#wq6JX+}wwCdSEz
UW|k&N#+H^wi58m+8F#z@0ImxZYXATM

diff --git a/galactic/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index 8acda84f5f6fbc54d1cdc527a62a3532555ebd8c..16bfaf852b3daa4f1be51d0d23a9e4c8b6022f82 100644
GIT binary patch
delta 62
zcmbQEFh^m78>3-%p;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC&bX8h0ACss&j0`b

delta 62
zcmbQEFh^m78>68~a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=5ofRd;m@Z5&{4K

diff --git a/galactic/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 05a75bc409687f068540a74230dbd00e5fd8c0ce..e5d02eae9a0ede50cf3ed47d9f85e50e946e2fb2 100644
GIT binary patch
delta 62
zcmccUe9?JB0;6Gep;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2L%k<mc`0FFKrU;qFB

delta 62
zcmccUe9?JB0;8cxa#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=823B3IKg45|aP`

diff --git a/galactic/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index 68b590d12d839e634a9660e2b87f9616d08a3f39..570a9a7af50ca35c3650499d85eacc46b7447bb0 100644
GIT binary patch
delta 62
zcmaE&@I+xl7^7i!p;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2Nt&Ulv(0EMa(w*UYD

delta 62
zcmaE&@I+xl7^9&{a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=61%rd;oNl66yc|

diff --git a/galactic/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree
index c63eb5e471778c5bb7b6af9b58b2a2a131afb550..03099f1133363bab442708dfe8a47f09286179ac 100644
GIT binary patch
delta 62
zcmZqIYuDT0$7q;cXqK0gpPHy|Xl7(-VPc$|Vw#p@2_#YtQ_Rd#lP%0lOic_^O%e@~
Q3@uYkQq4BkGj@mq09{=Yy8r+H

delta 62
zcmZqIYuDT0$7pDhTvV8z6Q8YboNSh8kZ5XbVQHM0WNKk(W@4OTZk}e8WNBiYY-na_
Rl4NXYX_RQOxt_5@6aY*{5$*s0

diff --git a/galactic/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index 7ea919c605a1ef65804262378aef38286c63232b..aa63ad770d7280ba4811a49e8b33e2d2d3e4f008 100644
GIT binary patch
delta 64
zcmZpfz}PZ@aYF#3VRoTeUQT{$qQ0S-k)?%+adL`jT9PG@NHt6`GfPdjFf%bVF-$c{
SG)OYEOfg9{+uX?5>;?diHxsJ>

delta 64
zcmZpfz}PZ@aYF#3p-FO4VR}w{w!U$)S)xIrsj-Enabl9Gg`t^=af-Qlno*LaiE*-_
TnWagRv8AO^qQ&M$#%4DFeIOFv

diff --git a/galactic/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index 672a0285b07ab2435b5ef2a9f6c023f88b284c5e..c03cb154e99d8966d7cf5506a8e8a74c8324627b 100644
GIT binary patch
delta 64
zcmccD&UCMxX+s2~VRoTeUQT{$qQ0S-k)?%+adL`jT9PG@NHt6`GfPdjFf%bVF-$c{
SG)OYEOfg9{+uX?*+5`Z&7Zhy(

delta 64
zcmccD&UCMxX+s2~p-FO4VR}w{w!U$)S)xIrsj-Enabl9Gg`t^=af-Qlno*LaiE*-_
TnWagRv8AO^qQ&M;#?U4JrvMY6

diff --git a/galactic/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index bf3ad8d0905bf353ab2f9027a426a784a139889a..7acfd64538f2668ddf542c56797b3ba92528731a 100644
GIT binary patch
delta 62
zcmdm`uuEZs7o%Zzp;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC&A6Wr0B(*GEdT%j

delta 62
zcmdm`uuEZs7o(v`a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=4!_Md;nc{5?}xT

diff --git a/galactic/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/galactic/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index a7945927516de597429549719aacb6cfd0b05c95..705f778d6db44be0050ff9a0cd5dfa268c75a33d 100644
GIT binary patch
delta 62
zcmdm`uuEZs7o%Zzp;=x|erlq=p_!4Tg^6);ifLMsC6GupOffS{O|~#IF*PwvHAyr`
QGPF!FNj2MC&A6Wr0B(*GEdT%j

delta 62
zcmdm`uuEZs7o(v`a#3M=PJFh$ak5#WL87U#g{5&~lBtEEnTc_Vxp|sVlBJ1pvZ0x!
RNs_UprBR~A=4!_Md;nc{5?}xT

diff --git a/galactic/.doctrees/environment.pickle b/galactic/.doctrees/environment.pickle
index 4c8ae3b8fcfaf948008b379dc8eb1978e61c3db4..ff76e068012c9fb4e0c8e49a2da8d4063368b63f 100644
GIT binary patch
delta 14526
zcmeHN30#%cw(rBkIeZ(4`7px~a6k~wz;F(tf+!9+&!SAiK|CsgLs{O!p-d1F-Pm@h
zAgkBp&9P4Tv$W|pnOfPcXPK6kGtQYx_SV|_<5O<sE#B|lci->#`u#j>t^Zzo?e*<%
z?Y-9e=-p3a-~BYU{<vjYWlH(<nf9WF+ODP)v(1`hDK1Gaoos_2yQw54#a?VpNlH#K
z*^`QllTEggBzp=CktVsd&fE5&G}oV44aVd&iz&@yrauRSR<#Z$8jVG%DapnpOR}XX
z#bh>HZK=r?lhK@FEVh|aic=;VOKdhvQE@}9JbUKcS;h8}sk0htdnC@8QGx&dw4KBR
zur!l0{p3FFn(J0Fv$(uyhJAKJUPD*<$#@GL9IB`F2_2;*>XYtI%fr1{U7W0?^*J7t
zMd)c_rzm<~jE(d4iBYtCybr55=oU&}9_~wzboZyj#<|mXyTnQf%KR`|Yzm=^r<iC(
zSVy{iU@{$6+?mZDukA(82KiBA4_|t7ss|mC;RDly=&qVz+A%wU4vYjh5(8*{kUQO)
zm_<D;@mklZ<t6rcv}1G%%`>Fa<-y(PXUqNRmQp>fi0DG&L-cfSx;M=W@}O0bne?I!
zaV^~+6hSwYSh>7!Tnw1@VND0!T<PW{gJh*!!UMRP_vlD!>61Vk3tj0_s}D6eLTN@9
zPdY5y3Y(HjFV;lUt6@HLe>Xoie2DByz3m>b6?!_{77a?RYx&ToKzDksTQVI|mO`VW
z;jtoI>HgFR@Xt)MK)<lWKxgy}hlP64!t^dQwPWupHJ*|UaYp#Bp=@id?N?FpM+3H@
zZ2ND-)E#E~w~2QMs<KyVvuROgFWNsUz@|pl9W4CHz>a@SK*guEFPP}E=$^k3P*N84
z8P$~y&m^HVw@ClHvDL}&--@R@#?q{0J<Usv{KN5+65m&iAM-znAG>9;%~Db{*$CH~
zx!7VdmBPPbv(;j@S}m!?W?O1eN^$A$#n11~_HQ#?#7|!yKRMm~ZjYbeweTwgJbpSF
z1MxC~8$eGtjWn$4=1KD=!$}*br;RpGnr6zP-suJ@n!RZv(H$CUd-BulZR<vxgM4q@
zEoHavk}x}1vWL_EEON&Xpz+~8%-El})A+tVboPKgcr)qgFiR|r>={Ep>t&#W2YOMj
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zqKDh0Gi~XEFV>&_GR2ej8i8tEXwP8=deiJhcXmpniKDG>srjy&5=7C>-@1Snce4G%
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z_6w#HjAp(GKMnP|Q$C3g?@kW{8>n%l4^I+%`uNbz1>W={aKAZ7@PkUd=;DGf{zl?V
zUfgU`i5KPto(RJ1cr*Jm!*d!9Eldfx{UD#WrQ`EK1jW&&AdxVJS;F|6+tp3jPaFX@
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zT52n`+RdfKNmi59VzilxN>VJPMq_c3ImK!zGN+nSj3vK)@a{0%x6O2Z@Mx1hgEnUR
z+&Xr5nE$Kk|9|Y-aqJ*M#9^B?G=*x-3G|;FxYC@IKX&NoC&fk@(F1CUKX=-AJ%Xj$
z|J9@AKjyZaX1>$WGMSC3sYcsmbF$rNE3p|(MXA<OW2w2Q*ltTP8;zEvqSBP)l%(H2
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z-pL*R#VL-L`RD9jZ0|70+Dm)o&_Q`3QDe5d?Ep%ybkp!4UVWdlhd{@mr*)Rjze;}p
zmS?f`6%(3Kp#2}udDy7@vs|~x;VW6Ut#-T^DJ9d&qHc6|mM48?d1u~%VZ+wDw(CDM
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zF>7=OPYVe*r$(2SpUXAz!E1Cbp%b};4_~93ktQVEfEwN95kkUEsL|Q)6Vi`WTpY7S
zh`1Rwx}u{(!VRg>S#*=QQQVXoUB6%<;l|YHQU?eLH>XCo>SH0{2G!^m92OF8QjN~@
znvig#YINbcJZ|&4W*Ca!gbERNtVVZqkdScKYIHwd5)$rQjqaFBKA(sIRHO6v77~U`
zjqdtbkZ9T3fimvtiiWPW7Fv`ZK=-ZH(crB?F13lOnDdlBjaZi|nG__vL%rh!UA`_;
z#*M_O33TlGC^meF#)Ga~pGL#iSJ5%+_4Ld-Bh@@MMLNB0`eRnf{O3PMz=EB&-FW;>
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[18, "parameters"], [19, "parameters"]], "Per-joint Parameters": [[8, "per-joint-parameters"]], "Handling of errors that happen during read() and write() calls": [[9, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to Galactic": [[9, "migration-from-foxy-to-galactic"]], "Command Line Interface": [[10, "command-line-interface"]], "list_controllers": [[10, "list-controllers"]], "list_controller_types": [[10, "list-controller-types"]], "list_hardware_interfaces": [[10, "list-hardware-interfaces"]], "load_controller": [[10, "load-controller"]], "reload_controller_libraries": [[10, "reload-controller-libraries"]], "set_controller_state": [[10, "set-controller-state"]], "switch_controllers": [[10, "switch-controllers"]], "unload_controller": [[10, "unload-controller"]], "Demos": [[11, "demos"]], "Repository organization": [[11, "repository-organization"]], "Mode switching demo": [[11, "mode-switching-demo"]], "diff_drive_controller": [[12, "diff-drive-controller"]], "Velocity commands": [[12, "velocity-commands"]], "Hardware interface type": [[12, "hardware-interface-type"], [15, "hardware-interface-type"], [17, "hardware-interface-type"], [19, "hardware-interface-type"], [20, "hardware-interface-type"], [21, "hardware-interface-type"], [22, "hardware-interface-type"]], "Other features": [[12, "other-features"], [20, "other-features"]], "ros2_controllers": [[13, "ros2-controllers"]], "Nomenclature": [[13, "nomenclature"]], "Guidelines and Best Practices": [[13, "guidelines-and-best-practices"]], "Available Controllers": [[13, "available-controllers"]], "Available Broadcasters": [[13, "available-broadcasters"]], "Writing a new controller": [[14, "writing-a-new-controller"]], "Useful External References": [[14, "useful-external-references"]], "effort_controllers": [[15, "effort-controllers"]], "Force Torque Sensor Broadcaster": [[16, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[17, 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[[23, "development-organisation-and-communication"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/humble/.buildinfo b/humble/.buildinfo
index 251b8c6cc73..7ff4853521b 100644
--- a/humble/.buildinfo
+++ b/humble/.buildinfo
@@ -1,4 +1,4 @@
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diff --git a/humble/.doctrees/doc/acknowledgements/acknowledgements.doctree b/humble/.doctrees/doc/acknowledgements/acknowledgements.doctree
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zN5Uf_h?op}iEd`Z1~_|+)Q3}N|A{OeLWQHJ#mNlabV7{5yYG;a0P++Du6UnFLn!`D
z>GV5DBV76+sT)FtvcJod8F=|)vNn?2&zqVVEJn%xVwKAl57i$8fry%d2$h8pFk<zV
zmILXJ?8AJ%^fZYNEqDIAo}+-UVq+i`UD651ACRLQ8St;?Wm<MD>e5n2>K(vuW@1Q*
zBCtV>ZMskbD-z=0aP=Biu6+ata3%grAQi9Bwf~1Q6Gm*O{fpgI3@n%^J|EN)`~itx
zK3YQH^7G<9aLFBh4Q~VV@TMdST~oyu!^OPyTr9f#uc{b!qi&e{lw81xgHv16edG@i
zQu-v2;(<-;VL_QVKZNWdH~ky`sYsCUb5IyP^l!49)=V80gX-U-=>oa^bUSi+BnovE
z;zz*}egE(Js`zmzxt+G%jv`KV%O}Hm_Ae1fg<k?@)QZ98^4b*aULh{!sBnc`?7?D~
z?}H=J`wrwr>cLaQP|x*wi}oIhRCyMN!h3a|!-L;S!NEJlyD;~L%B-NRW2FwLONp^S
zYTfBX2ONtfP6bG=pmhi3c6jG*u_)}_c37P7P^^G+{dad=m<T!dpxg<++$ye*(6_b<
z+fnIr!;j&ISS||CB5P>duQ?9ZZ19k%0KT06&%tG3EQ8>(5Ec(Eo5SoML#DEHlaY8Z
z=rpfOL(N|CRPbHA;CJ?kD*~zgm{|if9S{*S3%Q1u9zJG<n5<$Hdcctfh=p;>UZ>e~
zT>`=4V3rPevfOiU81?u~39JFZ)J`C;iX@EM0qL3qR<z;o0(#}6AVSWq*wX(9$Nnt-
zHSAWMaOPd{bAbYUe;>ZHAPS3)izmYbAVMx9%adypABVEQ;ge#h)!HeZ5rdvHBKE@J
z3g#*?){Gd;=A;pB`pRBp`Dt82xGqczvP5CZ*2G8QH^q{VNf;ua4-*Zc(m|ML7|Wpb
zGK^&qCORTZ4igPy>BmH|Dul7Tyb-(GjKd)j>vuQAH#-6a^rN4Dgtq6ygSwq!>x;pu
zml9{fEZzz6xwtxnT(T3=ZzRTsQQKRbLUehhgwsZdlE@K<_ZLfnxswYm-zAqVmGBFI
zU?H9Gzy}_P9ZdE6SqxtI$4EN9dAk&v+kX7x*Is85xKM<hah&I(P?eTK-PsA-H-xLu
z4(M!eo*Q2M{Veat#6u0)4NYT<LQ9)p17fg=j&KHk!y$bk@CN;{<Rj@Lgu>e0(kI~-
zDxWPELc3NpD)0<n%YHlqk^dQ4X~V<-u>77p+Ash(<k5ya+Aw$}$)gSJ)Sm(KXhR-t
zF!4Wn5IXioh&<Zhn<0-j<k1GiBJyZM*pQt^8xR}LqYZtio41ib9&PBeMjmbO{?FH&
VCh}-Qr}$|>8}5P~i;Mm_{y&bg7fb*E

diff --git a/humble/.doctrees/doc/contributing/contributing.doctree b/humble/.doctrees/doc/contributing/contributing.doctree
index 27ad742336282f327bc072a0d18bdedcb6bac54c..548af2d9d8f293fcf8006f4fc85718f876797d1c 100644
GIT binary patch
delta 64
zcmaERl=1CR#tq?&hS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwz-2bH4y;Q)D(LF

delta 64
zcmaERl=1CR#tq?&h9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw=k7*i7g!$}j{

diff --git a/humble/.doctrees/doc/differences_to_ros1/differences_to_ros1.doctree b/humble/.doctrees/doc/differences_to_ros1/differences_to_ros1.doctree
index 1831ddedfe99e3f4f1bcee869dbdbe1607404570..ef9adcd6331560b2061663449327f22b7ebd0131 100644
GIT binary patch
delta 64
zcmey+$Mm6(X@eG{VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
SCmUIsCz>UvZH{IXZ36(XBNLDS

delta 64
zcmey+$Mm6(X@eG{p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
TX^L^0rGaU(f$8RGM$t9^pO_Nx

diff --git a/humble/.doctrees/doc/gazebo_ros2_control/doc/index.doctree b/humble/.doctrees/doc/gazebo_ros2_control/doc/index.doctree
index c5bddcd93d5351e3628a958dc66aca14842734ac..7cd61f130953f4939b961bc1f8b69ff93d4fcded 100644
GIT binary patch
delta 129
zcmaF3mFeMDrVSR1M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
go@``ko@kbwrayTfhwSEd#@ChP>6O^Lr&?7W0EM0?LI3~&

delta 129
zcmaF3mFeMDrVSR1MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
hrYXj0mIkKD2B!Lx_i@N>ZfAU5NuFMb&3md<<pDUzCjtNf

diff --git a/humble/.doctrees/doc/getting_started/getting_started.doctree b/humble/.doctrees/doc/getting_started/getting_started.doctree
index 2e32c80221d709bfee5ca6c1d69b8b24e3dcd9a9..71ec4e15b5c17b2e476506e09f93307b7322f731 100644
GIT binary patch
delta 64
zcmaF1jrrL&<_!jnhS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwmFfJ^%elYloTES

delta 64
zcmaF1jrrL&<_!jnh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
UrYXj0mIkKD2Bw=68Ch=u0I&%YegFUf

diff --git a/humble/.doctrees/doc/gz_ros2_control/doc/index.doctree b/humble/.doctrees/doc/gz_ros2_control/doc/index.doctree
index 42296d7f7bd660cc4191613b9f6ce3082039b393..2eaede556807f23360508c81c0164dd010041092 100644
GIT binary patch
delta 123
zcmdnIf@$*#rVR#+hS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
eo@``ko@kbwwmFe;OBw0fCMPnAZjP?FAq@aN`z3M!

delta 123
zcmdnIf@$*#rVR#+h9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
frYXj0mIkKD2Bw=68Ml;?u5EH6qv+=7iW|}Z_I4yP

diff --git a/humble/.doctrees/doc/project_ideas.doctree b/humble/.doctrees/doc/project_ideas.doctree
index a7e8821d13eff0cb981411075f0fca1e1d5bca53..3b0adddf74f07bce031ed94087e51049c4456270 100644
GIT binary patch
delta 64
zcmZ4digEEP#tk}*hS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwmFvZSTO*&4iruR

delta 64
zcmZ4digEEP#tk}*h9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
UrYXj0mIkKD2Bw>18IKhM0H=c!t^fc4

diff --git a/humble/.doctrees/doc/resources/resources.doctree b/humble/.doctrees/doc/resources/resources.doctree
index 3ebd01b9e5af1047ee1560328cb4babbfcd7fe0a..acd0bc07c614c67db1d093afef506e6c304312ad 100644
GIT binary patch
delta 68
zcmZ41%et(Wb%P3{VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
WCmUIsCz>UvHHR{84`pNwbOiv}XcNr<

delta 68
zcmZ41%et(Wb%P3{p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
XX^L^0rGaU(foXFn<MvQS#z0p9#$6LF

diff --git a/humble/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree b/humble/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree
index d92c04a62ebce1c40a6a90f6870701d79021662a..440bede8a719f707376948cd822ff5aa2c59e910 100644
GIT binary patch
delta 64
zcmex!jPcJg#tjyXhS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwmFkgI0*pLoD>WI

delta 64
zcmex!jPcJg#tjyXh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw=c8HJMo!x0l~

diff --git a/humble/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree
index eb85b18f17c5213ecc85e905bc8410a815e4b09e..8bfbf711241337e4c0e217a68e18ebe6f229f6d3 100644
GIT binary patch
delta 64
zcmX^4nDOLe#tm+ahS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwz-@!r~m-Wh7?Hv

delta 64
zcmX^4nDOLe#tm+ah9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw?K8G{M{yZaNV

diff --git a/humble/.doctrees/doc/ros2_control/doc/index.doctree b/humble/.doctrees/doc/ros2_control/doc/index.doctree
index 296e334d3453a1b088af5aedde6fe3be240006fe..bfec70f007672f7d04b66189591d026505621e96 100644
GIT binary patch
delta 62
zcmaE2_{4C79iw4(p;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8ur9XDk&50DgKB(*OVf

delta 62
zcmaE2_{4C79iyR1a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=6uFdaR6=a5;Fh*

diff --git a/humble/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree b/humble/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree
index e4fcf746a86ddcc240b768bc33cea54b2d9f7a65..0c76d924f744387e6bda6173e5f13192d3fe23cb 100644
GIT binary patch
delta 64
zcmcchoblFk#tnXqhS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwz-}$x(EQ+yA+N9

delta 64
zcmcchoblFk#tnXqh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw?q8Ka8;$S@P`

diff --git a/humble/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree b/humble/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree
index 017eef36f86faeb91b5810a90b8584924f807a6c..0455dd9e71041e669d0196909b408cd03e14daf6 100644
GIT binary patch
delta 69
zcmZ3ol5xpO#tj~fM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwra#%A)p_$?#^*r*1jZGl

delta 69
zcmZ3ol5xpO#tj~fMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!Lx{aKwi?`3=*1OV|26$AhP

diff --git a/humble/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree b/humble/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree
index f379279feafb39d5ff63b952e59104f6e0e287b0..2d4c0588307fcf3f61fc3d6278669862f10c0b57 100644
GIT binary patch
delta 69
zcmdmgg>nBC#tlJ?M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwra$>4m&fKajKvuMFF_V>

delta 69
zcmdmgg>nBC#tlJ?MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!LxPjY!|KEqg?0RS7870&<w

diff --git a/humble/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree b/humble/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree
index 5c08f5f3fc1a1e509faad4870787f3303fcb0eb4..567a204a5c3c3bada086572a56bce5f6fa345612 100644
GIT binary patch
delta 64
zcmZ3|z__G=af1V+VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
SCmUIsCz>UvZ7yWoYzF{}1`}KW

delta 64
zcmZ3|z__G=af1V+p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
TX^L^0rGaU(f$8Q##?5vBd3zGP

diff --git a/humble/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree b/humble/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree
index 2848cda52d70a39961ef6ba268b99e9a88f6d6ab..fb74ca89d922b2b2a05e476a3544648f72e62c02 100644
GIT binary patch
delta 64
zcmZo~WNB|?+2F@$m|bX=my@5GsBdVNYMf+goRXMiV3KNPlx%Ehm<GhjMi$0K78b_l
S$wrpuiDt=Zo9h`l{sRDjgcDo<

delta 64
zcmZo~WNB|?+2F@$Xp&r1n4S}#t#6rTW{_f<W?^AqWS(STVrH3UXlZC+VQy}2W}Iqj
Tnqr)0X<(XcV7j@Uk>fuAZ}}3u

diff --git a/humble/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index 62553d49f7f4cf1907d58070e6cfcbaf2d30e723..80e5570fb1342487880a3de547cd47d439ff2924 100644
GIT binary patch
delta 64
zcmezKh4If9#tn9ihS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwmF}Xw-NyBFBF9U

delta 64
zcmezKh4If9#tn9ih9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw?y8F?!K+N2ZZ

diff --git a/humble/.doctrees/doc/ros2_control_demos/doc/index.doctree b/humble/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 745a20132e6f299cd3b728d4e51e30e125d61e6a..6c94f39ffe3c98b5f30813acff8193d098a0641a 100644
GIT binary patch
delta 69
zcmX@u!F;fTd4n0FQFftOUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
XCmUIsCz>Uv=}(@pNqloX<Do+U1b-G?

delta 69
zcmX@u!F;fTd4n0Fkx6n<VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
ZX^L^0rGaU(fvNuF37f<>*E1eE1OV{G6}<oe

diff --git a/humble/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree b/humble/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree
index cafcd6e3d37231f21a6184c276404fec4f4c9c0e..bd647647a39658a39c7846c6e285c6a477b0f837 100644
GIT binary patch
delta 62
zcmeB_>Xh2h&tjNeXqK0gpPHy|XqIZ6WNDm|m}Fp*YG#ydY-pGU#K}e$#zqzv#^%XJ
Qmgb3O$!VJpuy}F+09)%4TmS$7

delta 62
zcmeB_>Xh2h&thnjTvV8z6Q8YbnPz5?Vwz@QVPIsQWME=unPzBdXklS)Zf<6rYHFHd
RoMvfYnrvXY`2dS22LMZ85xf8Z

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree
index 8d3a4769c4ed1a576d1a23f53892def7a65c6442..185a65378b18f15a5a064c8b539df9c9435c3355 100644
GIT binary patch
delta 76
zcmeBfWbJNb-4MlSlwD|+my@5GsBdVNYMf+goRXMiV3KNPlx%Ehm<GhjMi$0K78b_l
e$wrpuiDt=Z`jhy@C(8<mHt%5EzJrnRvK;_==oYg8

delta 76
zcmeBfWbJNb-4MlSWRhG|n4S}#t#6rTW{_f<W?^AqWS(STVrH3UXlZC+VQy}2W}Iqj
gnqr)0X<(XcV5&cfUwpExfN1j$#_c;8886!b0Ak%16951J

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree
index 23283d26269b14c1d14b595c1465895bcff65158..c1cec399df3094fc54ef26b5994ec8dfd368bb67 100644
GIT binary patch
delta 64
zcmaDhpXu3rrVTNShS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwz-!vvJU{i<`hl<

delta 64
zcmaDhpXu3rrVTNSh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
TrYXj0mIkKD2Bw>P86*1uuUiwY

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree
index a56e0f19be5ee9645e16c1b30ec3bb6cf578b0d2..654039de071c80def72fc8240604ac6b7ffcd271 100644
GIT binary patch
delta 73
zcmdnm#k94HX+sR7QFftOUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
bCmUIsCz>Uv=}$Hk5TE?JMSAlA#?od0T)-Dj

delta 73
zcmdnm#k94HX+sR7kx6n<VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
dX^L^0rGaU(fvNsvLjm#0zgwg?A7CtP1^`Bt7OnsQ

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree
index c71866ca25a8188dbba4813f2b2ee64f9ef70c72..04d213962f5e2c3eb6fce5ba409b5399685bd552 100644
GIT binary patch
delta 69
zcmbRHk7@2drVTNSM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwrayTCm-yzTj1_wUGU*mn

delta 69
zcmbRHk7@2drVTNSMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!LxCvb^xUdmXp7XTkV6|?{V

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree
index 614c4b795e4e12aa19e618cfa79122d718802fa8..7fb5ebb30211f0295adf5122f6236810d477cd80 100644
GIT binary patch
delta 73
zcmeBQ!PLKkX+sR7QFftOUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
bCmUIsCz>Uv=}#8q7oS|qC$@PvW5^@`PVyEF

delta 73
zcmeBQ!PLKkX+sR7kx6n<VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
dX^L^0rGaU(fvNsvL4NVcwR~cmcQb}e0suJ26>R_j

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree
index 22fd4f948994d2d0105182a422521fd4b5e2e379..52311e4d8ffddbaaa179072a685d4f4f6991d3b0 100644
GIT binary patch
delta 73
zcmdn8mTAjcrVUYyM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwra#$HN_BGQG@i|S8NW{f0B%bc*#H0l

delta 73
zcmdn8mTAjcrVUYyMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!Lx9i>z!cTVHkyqEF&6aZKt7dZd`

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree
index 639fe1dd954cf42c91d2fca1d0217c92a6848347..6218f0443486c8b6d1c65571ba2ae7b2ac4ad97e 100644
GIT binary patch
delta 73
zcmZ4UmTApfrVUYyM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwraxJbPki!LUeV1v7{6=*0EeI#!vFvP

delta 73
zcmZ4UmTApfrVUYyMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!Lx1^L7$Z{-!;yo2$}765T|7b5@w

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree
index 022d8615225301be9a515e1d7651ed77b6a8f527..c532ef5a56bd67a51ceff515282c9880a6b32408 100644
GIT binary patch
delta 73
zcmbQWoN3l_rVUYyM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwraxJMUwm>epXlZtjE^P)09Hd5#{d8T

delta 73
zcmbQWoN3l_rVUYyMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!Lx75K#`_wtEu-of~2A^<=b7AF7z

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree
index 765557a3a5700b244596bf709eaaf8509636d995..ff60562926493212e444cf2077250525ea3616f0 100644
GIT binary patch
delta 73
zcmdmSfN948rVUYyM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwrayUNjOt|G1w5PgGFHz60DTM>wEzGB

delta 73
zcmdmSfN948rVUYyMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!LxC&s8w=3T(Ec`sx2JOF0l7Zm^i

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree
index f97ec850d420df6455eebaa07289e69e4ce8068c..2621ad4d5fa5cd83dc3c2e607951186a1f04ab8d 100644
GIT binary patch
delta 73
zcmZ49%(T3jX+spFQFftOUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
bCmUIsCz>Uv=}!*i5uYr;E4q0H<NJC5NA?y(

delta 73
zcmZ49%(T3jX+spFkx6n<VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
dX^L^0rGaU(fvNuFKpyeQ0=%M|cQC%M2LLh46{G+F

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree
index 3ed5e82795f01f253144760047b56dbee39a8033..15aa102a9d13592c46b31e0ccbeddc48d719a282 100644
GIT binary patch
delta 73
zcmaEHknP1mwhd8?M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwra$?flWOxu#_by!8O`Sd0G-Ph@c;k-

delta 73
zcmaEHknP1mwhd8?MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!Lx?>VV9Z)DuQk&)4SJ^+WH7f}EJ

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree
index 697e269e820f9f704689d69d02980666ece6bbff..064e4ec1eee5c14d3ad4120f8426daee3a436595 100644
GIT binary patch
delta 73
zcmX^2mGRtH#tl)7M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
co@``ko@kbwra$>0kND)NRZ^SxG744#0H)Cw`~Uy|

delta 73
zcmX^2mGRtH#tl)7MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
drYXj0mIkKD2B!Lx5Aujlo?0cfc`u`2B><477hC`U

diff --git a/humble/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree
index 5a266bc50de93315c62108bd7d28e27c882bf863..3591b41d5967374725555ffa04637e5c65c2827e 100644
GIT binary patch
delta 76
zcmex4kLl+;rVUYyrrCvNc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
fo@``ko@kbwrk|3ZJo#gU$mDbU+?&@ip6&$z-vt@g

delta 76
zcmex4kLl+;rVUYyrY6Znh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
grYXj0mIkKD2B!Kc`N@+%Mu<#4$Irca9pmX<0LJ<mHUIzs

diff --git a/humble/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree
index 0507f96299b017fb717c7162ea69432c4625cc95..51f35698fd848cc256264baf15e324609bf5f7a9 100644
GIT binary patch
delta 71
zcmeB)>WSJA!)TOUXqK0gpPHy|XqIZ6WNDm|m}Fp*YG#ydY-pGU#K}e$#zqzv#^%XJ
Zmgb3O$!YqNFY=2{juDpIe2~#w8vrI-6{i3I

delta 71
zcmeB)>WSJA!)RoZTvV8z6Q8YbnPz5?Vwz@QVPIsQWME=unPzBdXklS)Zf<6rYHFHd
aoMvfYnrvXIKlviR=;Rn-xy=U|y|n=lFck*?

diff --git a/humble/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree
index c76c655a59512a0fb25c82cd0703d943469e8462..a54cc9a3fba29916298446a33f85ce244c6aba7b 100644
GIT binary patch
delta 127
zcmaFg!2G^}d4mt5VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
hCmUIsCz>UvZLVe1>L6X)<XT3Z$??Tvo29x!%>d!`CUXD)

delta 127
zcmaFg!2G^}d4mt5p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
jX^L^0rGaU(f$8R2My(FgwN0*N)R`P#EVfyyE7S}Clz$~N

diff --git a/humble/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree
index 76d586c2fdf162c1e3bca62e186d606ac1cce1bd..95c1b1e7847825f335ab6be5cae09a774d75c858 100644
GIT binary patch
delta 67
zcmX@;d(d}71fx-Qp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
VS(+!BC8z0678DfSJfBfX6#(Ce6T|=j

delta 67
zcmX@;d(d}71f!8ja#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Wahj!pX|jQ-{$xQx(arN2l~e)C-4i4L

diff --git a/humble/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree
index 63acc0619f7fa4cbc76ac6ce32ec93b51734820f..c61ba7e71174e1f8f2726e2eb6edb7dc49100b4f 100644
GIT binary patch
delta 127
zcmeBK&fK${d4mt5VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
iCmUIsCz>UvZLVcpeUx-<lWQ4uCePTRy?Mj&JKO-??<ji!

delta 127
zcmeBK&fK${d4mt5p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
kX^L^0rGaU(f$8R2#??nj*EYG9QD^du9om~W9KXX20FikoI{*Lx

diff --git a/humble/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/humble/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index eac60527ea165d96af9c0b5bdc7f85996d18516d..0cad3f31e32a894263db5d690f3b4099de345fc6 100644
GIT binary patch
delta 67
zcmcbVaw%nl2BT4Sp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
VS(+!BC8z06F60s2oX_~!008U+6x#p*

delta 67
zcmcbVaw%nl2BVQla#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Wahj!pX|jQ-{^UX)(argcj|~9WSrj_}

diff --git a/humble/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/humble/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 4561dc49cc132148d583c4827234960d6b5cc628..336d45b1426da1fe2674d6dd06d52ff38772dd5a 100644
GIT binary patch
delta 64
zcmZ2=jd|5I<_!*vhS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwwz-gT=Su*$?-a=Z

delta 64
zcmZ2=jd|5I<_!*vh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
UrYXj0mIkKD2Bw<}8F#(}0H<UWDF6Tf

diff --git a/humble/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index c41d6f49732c5227bc015aae9c4d31011d17ec8b..c30689cc2ae52eb7356bbedf95cc058a4f363f9e 100644
GIT binary patch
delta 62
zcmbQ|FwbFw8>3-%p;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8upJXIw4^0A_g-t^fc4

delta 62
zcmbQ|FwbFw8>68~a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=5og6asXBC5)J?W

diff --git a/humble/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 64f8410ce3a3b7614c4cc9cc47fe28361c600067..965ec89e39e59398ee28a98d8d7c934f411c1276 100644
GIT binary patch
delta 127
zcmcaSf${PL#tjLKhS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
io@``ko@kbwws|6ByEW<BCQoEEo19=_uz9`h5-tGgRwnoW

delta 127
zcmcaSf${PL#tjLKh9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
krYXj0mIkKD2Bw=QGPYZju5I!}MzhHY76zNw+b-b(0Gr??xBvhE

diff --git a/humble/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index 2c82063fc20cc703d1a7b1da689cc77185c783fd..975b014f67798d934b3e7db2532db8781852f596 100644
GIT binary patch
delta 67
zcmX?`ayDf{7^6{kp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
VS(+!BC8z06?vygvyn}J70RZ;k6*~X`

delta 67
zcmX?`ayDf{7^9I%a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Xahj!pX|jQ-{^U+6gUve_ry2kN<24kU

diff --git a/humble/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree
index aa8865f33e1422b710c46ba9e890cf8ad06b1c22..677258c2c427a8c7e519edc731821e0399f41ec5 100644
GIT binary patch
delta 62
zcmbP~Gbv|-2cuzjp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8uq!WSnUN0Cm+8`Tzg`

delta 62
zcmbP~Gbv|-2cw}$a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=1RtyCIDqh5?TNN

diff --git a/humble/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree
index b68400c180fcc50978e303d997fe30977f83acea..aa6f0f283c11fef96459a5f56adbe8927b0d3f9d 100644
GIT binary patch
delta 127
zcmX@#$aubyaf2VDVRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
iCmUIsCz>UvZLVkRGA3Qy<a$Qk$#;#^H}{!3asvR#WhQX|

delta 127
zcmX@#$aubyaf2VDp-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
jX^L^0rGaU(f$8RY#x7&hwN0*P)SZ0SNPTmksUtT4d+#MN

diff --git a/humble/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index 06b7abf963b6696e9bc8afc0795bbc8a99ea6f20..e17939946ca701f98f4f41d90cb19c6d923d15db 100644
GIT binary patch
delta 64
zcmZoYz}R|#aYF#3VRoTeUQT{$qQ0S7s&SH~aY|y6fk~>FQL?e2VHyx88(A0|Sy&jG
SCmUIsCz>UvZEj?2i30$gH50D@

delta 64
zcmZoYz}R|#aYF#3p-FO4VR}w{w!USWnL&zanuUddk$IAViJ4`Zp{1dPg}J%8nQ^MA
TX^L^0rGaU(f$8Q(#+En$jH(k4

diff --git a/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree b/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree
index 49c25d84583bbe779024a058c47dc9fa66b5c33c..368931fbccb88208a3db994612a8450ba22b2e87 100644
GIT binary patch
delta 69
zcmZ2_m1*f!rVVP0M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwra#%g)PD1HM!uB*6?GM&

delta 69
zcmZ2_m1*f!rVVP0MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!Lx{Y&jPPiN#?2>=1g6#@VN

diff --git a/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree b/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree
index b1092ead2e74a43904f8c964b0b0de8d79003117..7418f6a49b3be3b192fe030d1a5f817f5fd1c4bf 100644
GIT binary patch
delta 69
zcmX@Img&e^rVTZWM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwraw8p)qe9^#_Ll6DW4Y*

delta 69
zcmX@Img&e^rVTZWMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!Lx<6G@Fzh%5W1ppQF7H|Ln

diff --git a/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index e5b6b74fd36e157c56254741d64788f4d8ab204a..d31d27ffab4c871432fcb71403ad1c9aca1b9b22 100644
GIT binary patch
delta 69
zcmdmYgK6IlrVSB{M%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwra#${$7b^}#)?${E`Js*

delta 69
zcmdmYgK6IlrVSB{MkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!Lx9eHdvA7iXo1ppe<6^sA?

diff --git a/humble/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index a71af7da658f0105d688cdc33df311c10d8e6c59..3704c21d58435e429d63c3848d732a52390301cd 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8uq!W_&3J0EtZ#ga7~l

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=4!^5asYV36662?

diff --git a/humble/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree
index eb0efc44cb0336a0bbeaf08323f9bd8e5dae3d9c..b4e28ad69ddc01b641c397d9855556ff769673ff 100644
GIT binary patch
delta 131
zcmbQ9H$87d5Tj9cp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
hS(+!BC8z06eygmvc@yI@O)~XP=2O+&{7~DB8vvVTC`bSR

delta 131
zcmbQ9H$87d5TlVva#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
iahj!pX|jQ-{^YmHdYd;fF4H7a?_@qz&CL(B&A0(ckS7QL

diff --git a/humble/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree
index 315beed092840406bbdd4c164c7fa5122444f05b..629a74bcabbd95d0a50b8a24fea76b059fcce59b 100644
GIT binary patch
delta 62
zcmbO)H(zc;0;6Gep;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8uqk$k@jV09^7Cb^rhX

delta 62
zcmbO)H(zc;0;8cxa#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=824byZ}sR5!L_z

diff --git a/humble/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree
index c3cd1d63648fca7c2b4b3aa2b75999303b213f54..00fbf9cabd9f7d726799d77c6f61d3be40d7e526 100644
GIT binary patch
delta 69
zcmeylo$2RxrVUYyM%jgCc{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
Xo@``ko@kbwra!q)*mm<tMuS-ZKK>SB

delta 69
zcmeylo$2RxrVUYyMkdKch3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
ZrYXj0mIkKD2B!Lx`-E*bpJX(c1pq5k6~X`j

diff --git a/humble/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index 3d220d718b00af5c312b5aa066c070b474050666..11b410457dd5a07bfc0aa5cd68ef1cf3b2a58fb6 100644
GIT binary patch
delta 62
zcmbQMF;`=Q2cuzjp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8uq!WLzQy09z*#aR2}S

delta 62
zcmbQMF;`=Q2cw}$a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=1RsTLI6sf5zznu

diff --git a/humble/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree
index 8ab890f6ff5ea1728f3535ed0936090d439d7ca9..4c91a8f69d497b5216e2245013a560a8e3c2c98a 100644
GIT binary patch
delta 71
zcmaDI_&RVy6r)jgp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
ZS(+!BC8z06?&lYs{F7Z{^GQY}bpTd#7KH!+

delta 71
zcmaDI_&RVy6r+(za#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
bahj!pX|jQ-{^Wjs(aAsAH8!7QR8j{3Ku8tk

diff --git a/humble/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/humble/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index 29542aa1b4e07555a8f7b861aa1b9a15e4623760..5f556dcad2ff8d8bfa23c0a61cff0cd0f9c77344 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=p;@YNlBID<Vv>PLs+m!;v7uoa5GNa17#mqw7@H>>
QS(+!BC8uq!W_&3J0EtZ#ga7~l

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh$Wty2mifNjKg@KWIl7WetWtyR-p@oIHxw)Bfs;Oy;
Rahj!pX|jRo=4!^5asYV36662?

diff --git a/humble/.doctrees/doc/simulators/simulators.doctree b/humble/.doctrees/doc/simulators/simulators.doctree
index 97f7e50485b9c7d4ca8905619b3cf3ca649794fb..a27df7f7af9fc849f972d0222e80ea142818fbe1 100644
GIT binary patch
delta 62
zcmZoNZ!+JY#%P#bXqK0gpPHy|XqIZ6WNDm|m}Fp*YG#ydY-pGU#K}e$#zqzv#^%XJ
Pmgb3O$!VLz8MUPVOidA_

delta 62
zcmZoNZ!+JY#%O4gTvV8z6Q8YbnPz5?Vwz@QVPIsQWME=unPzBdXklS)Zf<6rYHFHd
RoMvfYnrvXYIh;{j3IIF85d;7L

diff --git a/humble/.doctrees/doc/supported_robots/supported_robots.doctree b/humble/.doctrees/doc/supported_robots/supported_robots.doctree
index e5f133029e3722c4a7d2bb38bb7cf530118af0f5..65c6749ac93b0048a399ad7133c6682236a77c19 100644
GIT binary patch
delta 64
zcmX@QgYoDN#trd|hS`N?c{%y1iTZ|Ssm4i`#wm$O1}3RyM#;v8hG{^YY-C|<WMN@!
So@``ko@kbwws`{M)+hkHjudJD

delta 64
zcmX@QgYoDN#trd|h9=2Hh3Pr*+4`1gW(FyyX%-d+M&?NdCT5mthL(mF7Ut&WX2z+e
UrYXj0mIkKD2Bw=QFm8<k0IUNO$^ZZW

diff --git a/humble/.doctrees/environment.pickle b/humble/.doctrees/environment.pickle
index 70dd7bea7dbba8d9a9959b9d3f6c43947faa31f2..56f0df2a449468dfa552dc772ead99fc24211938 100644
GIT binary patch
delta 47553
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diff --git a/humble/.doctrees/index.doctree b/humble/.doctrees/index.doctree
index 867223b3bf659567d7e4fa23418185169156cbfd..894014a9f905e4ed25fd51d376a9eb71bc2eab2f 100644
GIT binary patch
delta 82
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delta 82
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diff --git a/humble/doc/acknowledgements/acknowledgements.html b/humble/doc/acknowledgements/acknowledgements.html
index 3ea1346a4d4..dcd53fa324d 100644
--- a/humble/doc/acknowledgements/acknowledgements.html
+++ b/humble/doc/acknowledgements/acknowledgements.html
@@ -223,7 +223,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -341,7 +341,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -392,15 +392,15 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>577</td>
-                <td>405
+                <td>580</td>
+                <td>404
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.70
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 70.19064124783363%;"></div>
+                        <div class="progress-value-ratio" style="width: 69.6551724137931%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-03T11:07:19Z</td>-->
@@ -421,18 +421,18 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>238</td>
-                <td>214
+                <td>242</td>
+                <td>218
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 52.8395061728395%;"></div>
+                        <div class="progress-value-reviews" style="width: 53.960396039603964%;"></div>
                     </div>
                 </td>
                 <td>0.90
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 89.91596638655463%;"></div>
+                        <div class="progress-value-ratio" style="width: 90.08264462809917%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-05T08:25:35Z</td>-->
+                <!--<td>2024-04-07T18:06:50Z</td>-->
             </tr>
         
             <tr>
@@ -450,15 +450,15 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>479</td>
-                <td>111
+                <td>482</td>
+                <td>110
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 27.40740740740741%;"></div>
+                        <div class="progress-value-reviews" style="width: 27.22772277227723%;"></div>
                     </div>
                 </td>
                 <td>0.23
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 23.173277661795407%;"></div>
+                        <div class="progress-value-ratio" style="width: 22.821576763485478%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-04T06:34:04Z</td>-->
@@ -466,7 +466,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -517,7 +517,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>1435</td>
+                <td>1439</td>
                 <td>1147
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
@@ -525,7 +525,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                 </td>
                 <td>0.80
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 79.93031358885018%;"></div>
+                        <div class="progress-value-ratio" style="width: 79.70813064628214%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-03T11:07:19Z</td>-->
@@ -546,7 +546,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>1155</td>
+                <td>1159</td>
                 <td>604
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 52.65911072362685%;"></div>
@@ -554,7 +554,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                 </td>
                 <td>0.52
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 52.294372294372295%;"></div>
+                        <div class="progress-value-ratio" style="width: 52.11389128559103%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-04T06:34:04Z</td>-->
@@ -575,23 +575,23 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>261</td>
-                <td>237
+                <td>266</td>
+                <td>242
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 20.662598081952922%;"></div>
+                        <div class="progress-value-reviews" style="width: 21.09851787271142%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 90.80459770114942%;"></div>
+                        <div class="progress-value-ratio" style="width: 90.97744360902256%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-05T08:25:35Z</td>-->
+                <!--<td>2024-04-07T18:06:50Z</td>-->
             </tr>
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -1118,6 +1118,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-05-22T09:27:11Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 66.0%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 1.2731229597388465%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -1199,33 +1226,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-06-26T17:38:05Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 56.00000000000001%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.9466811751904244%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -2308,7 +2308,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -3990,6 +3990,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2013-08-28T10:43:49Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 14.798206278026907%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 0.5655999226530021%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -4206,33 +4233,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2020-10-12T22:15:34Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 12.556053811659194%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.4205743014599246%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -7691,7 +7691,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -7742,18 +7742,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>166</td>
-                <td>151
+                <td>167</td>
+                <td>152
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 90.96385542168674%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.01796407185628%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -7771,15 +7771,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>85</td>
+                <td>86</td>
                 <td>54
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 35.76158940397351%;"></div>
+                        <div class="progress-value-reviews" style="width: 35.526315789473685%;"></div>
                     </div>
                 </td>
-                <td>0.64
+                <td>0.63
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 63.52941176470588%;"></div>
+                        <div class="progress-value-ratio" style="width: 62.7906976744186%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -7803,7 +7803,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>52</td>
                 <td>47
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 31.125827814569533%;"></div>
+                        <div class="progress-value-reviews" style="width: 30.92105263157895%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -7832,7 +7832,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>72</td>
                 <td>30
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.867549668874172%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.736842105263158%;"></div>
                     </div>
                 </td>
                 <td>0.42
@@ -7858,15 +7858,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.205298013245034%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.078947368421055%;"></div>
                     </div>
                 </td>
-                <td>0.28
+                <td>0.27
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 27.61904761904762%;"></div>
+                        <div class="progress-value-ratio" style="width: 27.358490566037734%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -7887,15 +7887,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.635761589403973%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.605263157894736%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -7919,7 +7919,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -7948,7 +7948,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -7974,15 +7974,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>96</td>
+                <td>98</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.125%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.061224489795918%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -8006,7 +8006,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8032,15 +8032,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.9047619047619049%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.8867924528301887%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -8061,15 +8061,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>124</td>
+                <td>125</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.6129032258064515%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.6%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -8090,15 +8090,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>107</td>
+                <td>109</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.8691588785046727%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.834862385321101%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -8122,7 +8122,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8148,15 +8148,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>97</td>
+                <td>98</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0204081632653061%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -8177,15 +8177,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>114</td>
+                <td>116</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8771929824561403%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8620689655172413%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -8206,15 +8206,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>112</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.9009009009009009%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -8238,7 +8238,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8267,7 +8267,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8296,7 +8296,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8325,7 +8325,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>73</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -8354,7 +8354,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>58</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -8383,7 +8383,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>35</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -8412,7 +8412,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8441,7 +8441,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8470,7 +8470,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8499,7 +8499,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8528,7 +8528,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8557,7 +8557,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8586,7 +8586,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8615,7 +8615,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8644,7 +8644,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8673,7 +8673,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8702,7 +8702,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.50
@@ -8731,7 +8731,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8815,7 +8815,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>113</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8844,7 +8844,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>103</td>
+                <td>102</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8989,7 +8989,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>59</td>
+                <td>58</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9018,7 +9018,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>49</td>
+                <td>48</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9076,7 +9076,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>50</td>
+                <td>49</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9237,7 +9237,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -9288,18 +9288,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
-                <td>156
+                <td>172</td>
+                <td>157
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 91.22807017543859%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.27906976744185%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -9320,7 +9320,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>186</td>
                 <td>118
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 75.64102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 75.15923566878982%;"></div>
                     </div>
                 </td>
                 <td>0.63
@@ -9349,7 +9349,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>115</td>
                 <td>104
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 66.66666666666666%;"></div>
+                        <div class="progress-value-reviews" style="width: 66.2420382165605%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -9378,7 +9378,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>93</td>
                 <td>60
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 38.46153846153847%;"></div>
+                        <div class="progress-value-reviews" style="width: 38.21656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.65
@@ -9404,15 +9404,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>88</td>
+                <td>89</td>
                 <td>57
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 36.53846153846153%;"></div>
+                        <div class="progress-value-reviews" style="width: 36.30573248407643%;"></div>
                     </div>
                 </td>
-                <td>0.65
+                <td>0.64
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 64.77272727272727%;"></div>
+                        <div class="progress-value-ratio" style="width: 64.04494382022472%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -9436,7 +9436,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>99</td>
                 <td>53
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.97435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.75796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -9462,15 +9462,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>196</td>
+                <td>198</td>
                 <td>52
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.33333333333333%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.12101910828025%;"></div>
                     </div>
                 </td>
-                <td>0.27
+                <td>0.26
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 26.53061224489796%;"></div>
+                        <div class="progress-value-ratio" style="width: 26.262626262626267%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -9494,7 +9494,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>48</td>
                 <td>46
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 29.48717948717949%;"></div>
+                        <div class="progress-value-reviews" style="width: 29.29936305732484%;"></div>
                     </div>
                 </td>
                 <td>0.96
@@ -9523,7 +9523,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>78</td>
                 <td>34
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 21.794871794871796%;"></div>
+                        <div class="progress-value-reviews" style="width: 21.656050955414013%;"></div>
                     </div>
                 </td>
                 <td>0.44
@@ -9549,15 +9549,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
+                <td>173</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 18.58974358974359%;"></div>
+                        <div class="progress-value-reviews" style="width: 18.471337579617835%;"></div>
                     </div>
                 </td>
                 <td>0.17
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 16.95906432748538%;"></div>
+                        <div class="progress-value-ratio" style="width: 16.76300578034682%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -9581,7 +9581,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>29</td>
                 <td>23
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.743589743589745%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.64968152866242%;"></div>
                     </div>
                 </td>
                 <td>0.79
@@ -9607,15 +9607,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>219</td>
+                <td>220</td>
                 <td>22
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.102564102564102%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.012738853503185%;"></div>
                     </div>
                 </td>
                 <td>0.10
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 10.045662100456621%;"></div>
+                        <div class="progress-value-ratio" style="width: 10.0%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -9639,7 +9639,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>199</td>
                 <td>21
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 13.461538461538462%;"></div>
+                        <div class="progress-value-reviews" style="width: 13.375796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.11
@@ -9665,15 +9665,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>210</td>
+                <td>212</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.095238095238095%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.018867924528301%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -9697,7 +9697,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>17</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9726,7 +9726,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>18</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.94
@@ -9752,15 +9752,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>191</td>
                 <td>16
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.256410256410255%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.191082802547772%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.421052631578947%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.37696335078534%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -9781,15 +9781,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>181</td>
+                <td>183</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.07
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.629834254143646%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.557377049180328%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -9810,15 +9810,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>192</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.06
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.315789473684211%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.25%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -9842,7 +9842,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.25
@@ -9871,7 +9871,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.69
@@ -9897,15 +9897,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>163</td>
+                <td>164</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>0.05
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 4.9079754601226995%;"></div>
+                        <div class="progress-value-ratio" style="width: 4.878048780487805%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-01-25T18:27:19Z</td>-->
@@ -9929,7 +9929,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9958,7 +9958,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9984,15 +9984,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -10016,7 +10016,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>135</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10045,7 +10045,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>131</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10074,7 +10074,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10103,7 +10103,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10132,7 +10132,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -10161,7 +10161,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10187,15 +10187,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>187</td>
+                <td>188</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.2085561497326207%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.1914893617021276%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-02-28T09:38:36Z</td>-->
@@ -10219,7 +10219,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>126</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10248,7 +10248,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>6</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10277,7 +10277,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>5</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10306,7 +10306,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>132</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>0.04
@@ -10335,7 +10335,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>147</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10364,7 +10364,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10393,7 +10393,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10422,7 +10422,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10451,7 +10451,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -10480,7 +10480,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10509,7 +10509,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10538,7 +10538,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>149</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10567,7 +10567,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>125</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10596,7 +10596,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10625,7 +10625,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>94</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10654,7 +10654,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10683,7 +10683,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10712,7 +10712,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10741,7 +10741,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10770,7 +10770,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10799,7 +10799,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.75
@@ -10825,15 +10825,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>192</td>
+                <td>194</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0416666666666665%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
                     </div>
                 </td>
                 <!--<td>2022-03-23T22:13:23Z</td>-->
@@ -10857,7 +10857,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>134</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -10886,7 +10886,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10915,7 +10915,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10944,7 +10944,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10973,7 +10973,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11002,7 +11002,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11031,7 +11031,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11057,15 +11057,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>112</td>
+                <td>113</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8849557522123894%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -11089,7 +11089,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11118,7 +11118,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11147,7 +11147,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11176,7 +11176,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>87</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -11205,7 +11205,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>47</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -11234,7 +11234,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -11263,7 +11263,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11292,7 +11292,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
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-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
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       <script>
diff --git a/humble/index.html b/humble/index.html
index 55bbe05e1c1..12dbc30aea8 100644
--- a/humble/index.html
+++ b/humble/index.html
@@ -148,7 +148,7 @@ <h2>Development Organisation and Communication<a class="headerlink" href="#devel
 </dd>
 </dl>
 <hr class="docutils" />
-<p>Built on 2024-04-07 at 05:31 GMT</p>
+<p>Built on 2024-04-08 at 05:31 GMT</p>
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diff --git a/humble/searchindex.js b/humble/searchindex.js
index 6b7ac3e1315..d3b1aff9954 100644
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[1, 2, 4, 6, 7, 15, 29], "test": [1, 3, 6, 14, 15, 17, 19, 24, 31, 32, 33, 34, 35, 37, 39, 42, 48, 50, 52], "If": [1, 2, 8, 9, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 37, 39, 43, 44, 45, 46, 50, 56], "function": [1, 2, 6, 7, 22, 29, 33, 50], "alwai": [1, 29], "exercis": 1, "serv": [1, 4, 6], "live": [1, 7], "origin": [1, 3, 5, 7, 19, 29, 45, 46], "intent": [1, 8, 14], "section": [1, 2, 11, 13, 15, 37, 46], "target": [1, 9, 15, 33, 37, 40, 44, 46], "also": [1, 2, 3, 4, 5, 6, 7, 8, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 46], "read": [1, 2, 3, 4, 5, 9, 11, 13, 15, 17, 22, 23, 26, 27, 29, 33, 37, 43, 44, 48, 50], "understand": [1, 6, 45], "how": [1, 6, 7, 13, 15, 17, 20, 21, 22, 23, 25, 26, 27, 28, 29, 31, 35, 37], "handl": [1, 2, 4, 6, 7, 15, 26, 29, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 46, 48, 50, 52], "organ": [1, 7, 56], "guidelin": 1, "especi": [1, 2, 17, 50], "applic": [1, 4, 7, 9, 13, 29], "ros2_control_demo": [1, 4, 17, 19, 29, 31, 56], "pleas": [1, 9, 28, 35, 56], "keep": [1, 29, 37], "mind": [1, 37], "work": [1, 6, 7, 8, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37, 38, 43, 47, 51, 53, 56], "fork": 1, "when": [1, 2, 3, 4, 5, 8, 9, 14, 15, 16, 22, 25, 29, 33, 35, 37, 41, 44, 46, 50], "That": [1, 15, 37], "wai": [1, 9, 11, 15, 29, 37, 39, 46], "main": [1, 4, 6, 7, 9, 11, 14, 29, 37, 50, 56], "repo": [1, 4, 17], "clean": 1, "featur": [1, 4, 7, 14, 17, 19, 30, 50, 56], "branch": [1, 4, 17], "check": [1, 2, 4, 6, 8, 12, 14, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 45, 46, 48, 52, 56], "satisfi": 1, "befor": [1, 2, 8, 9, 15, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 37, 44, 45], "thei": [1, 2, 4, 6, 7, 8, 13, 14, 15, 16, 22, 35, 37, 44, 46, 50], "can": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 37, 39, 40, 42, 45, 46, 48, 50, 56], "must": [1, 3, 5, 8, 9, 13, 17, 29, 33, 42, 44, 46], "approv": 1, "two": [1, 4, 6, 8, 9, 15, 17, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 45, 46, 50, 52], "explicitli": 1, "onli": [1, 2, 4, 6, 7, 8, 9, 12, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 34, 35, 37, 38, 39, 43, 44, 45, 46, 47, 50, 53], "except": [1, 20, 29], "other": [1, 2, 3, 4, 7, 15, 17, 23, 28, 29, 32, 34, 37, 43, 45, 50, 52], "where": [1, 3, 6, 8, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 32, 34, 35, 37, 43, 44, 45, 46, 50, 52], "back": 1, "traceabl": 1, "discuss": [1, 7, 22, 31, 45, 56], "suffici": [1, 3, 5, 8, 39], "note": [1, 4, 9, 19, 46, 56], "still": [1, 2, 19, 22, 23, 24, 25, 26, 27, 28, 30, 36, 45], "encourag": 1, "help": [1, 9, 11, 14, 15, 16, 35, 37], "u": [1, 3, 5, 9, 17, 44], "increas": [1, 24], "pace": 1, "veri": [1, 2, 3, 5, 6, 13], "like": [1, 2, 3, 4, 5, 6, 7, 15, 21, 22, 29], "find": [1, 3, 5, 11, 24], "issu": [1, 6, 56], "nobodi": 1, "els": 1, "squash": 1, "messag": [1, 6, 9, 16, 25, 26, 27, 29, 35, 39, 42, 43, 44, 45, 46, 48, 50, 56], "comment": [1, 29], "fixup": 1, "linter": 1, "us": [1, 2, 4, 6, 7, 11, 12, 13, 14, 16, 18, 29, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 43, 44, 45, 47, 48, 50, 52, 53, 56], "pre": 1, "correct": [1, 2, 35, 45], "header": [1, 12, 15, 26, 27, 37, 45], "address": [1, 29], "similar": [1, 4, 7, 13, 19, 21, 22, 29], "mean": [1, 2, 8, 13, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 45, 46], "result": [1, 4, 8, 9, 19, 29, 43, 45], "exactli": 1, "cowboi": 1, "style": [1, 15, 37], "over": [1, 6, 8, 24, 29], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 39, 43, 44, 45], "doesn": [1, 8], "matter": 1, "trivial": [1, 14], "chanc": 1, "proper": [1, 8, 9, 46], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 44], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 13, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 48, 50, 52], "ping": 1, "them": [1, 6, 8, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 43, 45, 55], "necessari": [1, 8, 12], "repeatedli": 1, "sphinx": 1, "doc": [1, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 56], "theme": 1, "gener": [1, 6, 7, 13, 15, 16, 21, 23, 24, 25, 26, 27, 28, 29, 36, 37, 46, 50, 56], "locat": [1, 3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "control": [1, 7, 10, 11, 12, 13, 14, 15, 16, 17, 32, 34, 39, 42, 43, 44, 45, 48, 51, 52, 55, 56], "org": [1, 6, 11, 32, 34, 52], "while": [1, 4, 6, 7, 29, 33, 45], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": [3, 4, 5, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "humbl": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 35, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 36, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 14, 20, 24, 29, 31, 33, 44], "pure": 4, "could": [4, 7, 8, 17, 25, 37, 43, 46], "altern": [4, 19, 46], "script": [4, 6, 15, 37], "skeleton": 4, "sim": [5, 16, 54], "dockerfil": [5, 17], "Then": [5, 8, 17, 29, 31, 45], "ign": 5, "meet": [5, 56], "prerequisit": 5, "along": 5, "gazebosimsystem": 5, "libgz_ros2_control": 5, "gazebosimros2controlplugin": 5, "gazebosimsysteminterfac": 5, "controller_manager_prefix_node_nam": 5, "diff_drive_exampl": 5, "tricycle_drive_exampl": 5, "about": [6, 8, 14, 15, 25, 35, 42, 43, 46, 56], "task": [6, 7, 35], "envis": 6, "simul": [6, 14, 16, 17, 19, 20, 22, 24, 26, 27, 29], "ignit": 6, "showcas": [6, 7], "grace": 6, "degrad": 6, "roadmap": [6, 17, 56], "place": [6, 35, 37], "draft": 6, "gpio": [6, 17, 29], "mode": [6, 8, 15, 22, 25, 33, 44, 45, 50], "switch": [6, 16, 17, 19, 25], "movement": [6, 44], "safeti": [6, 29], "skill": 6, "prefer": 6, "familiar": [6, 56], "mentor": 6, "\u0161togl": [6, 7], "size": [6, 35, 48], "350": 6, "hour": 6, "difficulti": 6, "medium": 6, "focus": [6, 7, 8], "although": [6, 8, 12, 13, 46], "easi": 6, "therefor": [6, 8, 9, 17, 37, 43, 44, 46], "often": [6, 14, 20, 24, 37, 43], "orchestr": 6, "purpos": [6, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "conductor": 6, "scenario": [6, 45], "moment": [6, 8, 46], "right": [6, 17, 35], "replac": [6, 12, 36, 46], "high": [6, 9, 45], "moveit2": [6, 7, 36, 55], "simplecontrollermanag": 6, "goal": [6, 7, 13, 19, 25, 26, 27, 28, 30, 31, 41, 44, 46, 56], "form": [6, 17], "behavior": [6, 14, 29, 45], "benchmark": 6, "statu": [6, 8, 12, 16, 19, 44], "format": [6, 29, 33, 43, 46], "preset": 6, "modul": [6, 22], "reli": 6, "doubl": [6, 9, 14, 19, 29, 32, 33, 34, 35, 41, 44, 48, 50, 52], "desir": [6, 11, 44, 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47, "rang": 48, "rqt_joint_trajectory_control": 49, "steering_controllers_librari": 50, "execut": 50, "logic": 50, "preced": 50, "tricycle_control": 51, "veloc": 51, "tricycle_steering_control": 52, "velocity_control": 53, "jointgroupvelocitycontrol": 53, "host": 54, "protocol": 55, "end": 55, "effector": 55, "non": 55, "devic": 55, "offici": 55, "manufactur": 55, "unoffici": 55, "welcom": 56, "humbl": 56, "develop": 56, "organis": 56}, "envversion": {"sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2, "sphinx": 60}, "alltitles": {"Acknowledgements": [[0, "acknowledgements"]], "Maintainers": [[0, "maintainers"]], "Contributors": [[0, "contributors"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Contributing": [[1, "contributing"]], "Pull Requests": [[1, "pull-requests"]], "Rules for the repositories and process of merging pull requests": [[1, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Writing documentation": [[1, "writing-documentation"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "CI configuration": [[1, "ci-configuration"]], "Documentation Usage": [[1, "documentation-usage"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [12, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[39, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[40, "forward-command-controller"]], "Hardware interface type": [[40, "hardware-interface-type"], [43, "hardware-interface-type"]], "Gripper Action Controller": [[41, "gripper-action-controller"]], "List of parameters": [[41, "list-of-parameters"], [42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [48, "list-of-parameters"]], "An example parameter file": [[41, "an-example-parameter-file"], [42, "an-example-parameter-file"], [43, "an-example-parameter-file"], [44, "an-example-parameter-file"], [48, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[42, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[43, "joint-state-broadcaster"]], "Details about parameters": [[44, "details-about-parameters"]], "Trajectory Representation": [[45, "trajectory-representation"]], "Interpolation Method none": [[45, "interpolation-method-none"]], "Interpolation Method spline": [[45, "interpolation-method-spline"]], "Visualized Examples": [[45, "visualized-examples"]], "Trajectory Replacement": [[45, "trajectory-replacement"]], "joint_trajectory_controller": [[46, "joint-trajectory-controller"]], "Hardware interface types": [[46, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[46, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[46, "preemption-policy"]], "Actions  1": [[46, "actions"]], "Subscriber 1": [[46, "subscriber"]], "Services": [[46, "services"]], "Further information": [[46, "further-information"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "Execution logic of the controller": [[50, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[50, "references-from-a-preceding-controller"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Communication protocols": [[55, "communication-protocols"]], "End-effectors": [[55, 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\ No newline at end of file
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43, 45, 55], "necessari": [1, 8, 12], "repeatedli": 1, "sphinx": 1, "doc": [1, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 56], "theme": 1, "gener": [1, 6, 7, 13, 15, 16, 21, 23, 24, 25, 26, 27, 28, 29, 36, 37, 46, 50, 56], "locat": [1, 3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "control": [1, 7, 10, 11, 12, 13, 14, 15, 16, 17, 32, 34, 39, 42, 43, 44, 45, 48, 51, 52, 55, 56], "org": [1, 6, 11, 32, 34, 52], "while": [1, 4, 6, 7, 29, 33, 45], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], 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"client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": [3, 4, 5, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "humbl": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 35, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 36, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 14, 20, 24, 29, 31, 33, 44], "pure": 4, "could": [4, 7, 8, 17, 25, 37, 43, 46], "altern": [4, 19, 46], "script": [4, 6, 15, 37], "skeleton": 4, "sim": [5, 16, 54], "dockerfil": [5, 17], "Then": [5, 8, 17, 29, 31, 45], "ign": 5, "meet": [5, 56], "prerequisit": 5, "along": 5, "gazebosimsystem": 5, "libgz_ros2_control": 5, "gazebosimros2controlplugin": 5, "gazebosimsysteminterfac": 5, "controller_manager_prefix_node_nam": 5, "diff_drive_exampl": 5, "tricycle_drive_exampl": 5, "about": [6, 8, 14, 15, 25, 35, 42, 43, 46, 56], "task": [6, 7, 35], "envis": 6, "simul": [6, 14, 16, 17, 19, 20, 22, 24, 26, 27, 29], "ignit": 6, "showcas": [6, 7], "grace": 6, "degrad": 6, "roadmap": [6, 17, 56], "place": [6, 35, 37], "draft": 6, "gpio": [6, 17, 29], "mode": [6, 8, 15, 22, 25, 33, 44, 45, 50], "switch": [6, 16, 17, 19, 25], "movement": [6, 44], "safeti": [6, 29], "skill": 6, "prefer": 6, "familiar": [6, 56], "mentor": 6, "\u0161togl": [6, 7], "size": [6, 35, 48], "350": 6, "hour": 6, "difficulti": 6, "medium": 6, "focus": [6, 7, 8], "although": [6, 8, 12, 13, 46], "easi": 6, "therefor": [6, 8, 9, 17, 37, 43, 44, 46], "often": [6, 14, 20, 24, 37, 43], "orchestr": 6, "purpos": [6, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "conductor": 6, "scenario": [6, 45], "moment": [6, 8, 46], "right": [6, 17, 35], "replac": [6, 12, 36, 46], "high": [6, 9, 45], "moveit2": [6, 7, 36, 55], "simplecontrollermanag": 6, "goal": [6, 7, 13, 19, 25, 26, 27, 28, 30, 31, 41, 44, 46, 56], "form": [6, 17], "behavior": [6, 14, 29, 45], "benchmark": 6, "statu": [6, 8, 12, 16, 19, 44], "format": [6, 29, 33, 43, 46], "preset": 6, "modul": [6, 22], "reli": 6, "doubl": [6, 9, 14, 19, 29, 32, 33, 34, 35, 41, 44, 48, 50, 52], "desir": [6, 11, 44, 46], "both": [6, 7, 22, 29, 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"tricycle_control": 51, "veloc": 51, "tricycle_steering_control": 52, "velocity_control": 53, "jointgroupvelocitycontrol": 53, "host": 54, "protocol": 55, "end": 55, "effector": 55, "non": 55, "devic": 55, "offici": 55, "manufactur": 55, "unoffici": 55, "welcom": 56, "humbl": 56, "develop": 56, "organis": 56}, "envversion": {"sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2, "sphinx": 60}, "alltitles": {"Acknowledgements": [[0, "acknowledgements"]], "Maintainers": [[0, "maintainers"]], "Contributors": [[0, "contributors"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Contributing": [[1, "contributing"]], "Pull Requests": [[1, "pull-requests"]], "Rules for the repositories and process of merging pull requests": [[1, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Writing documentation": [[1, "writing-documentation"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "CI configuration": [[1, "ci-configuration"]], "Documentation Usage": [[1, "documentation-usage"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [12, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[39, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[40, "forward-command-controller"]], "Hardware interface type": [[40, "hardware-interface-type"], [43, "hardware-interface-type"]], "Gripper Action Controller": [[41, "gripper-action-controller"]], "List of parameters": [[41, "list-of-parameters"], [42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [48, "list-of-parameters"]], "An example parameter file": [[41, "an-example-parameter-file"], [42, "an-example-parameter-file"], [43, "an-example-parameter-file"], [44, "an-example-parameter-file"], [48, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[42, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[43, "joint-state-broadcaster"]], "Details about parameters": [[44, "details-about-parameters"]], "Trajectory Representation": [[45, "trajectory-representation"]], "Interpolation Method none": [[45, "interpolation-method-none"]], "Interpolation Method spline": [[45, "interpolation-method-spline"]], "Visualized Examples": [[45, "visualized-examples"]], "Trajectory Replacement": [[45, "trajectory-replacement"]], "joint_trajectory_controller": [[46, "joint-trajectory-controller"]], "Hardware interface types": [[46, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[46, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[46, "preemption-policy"]], "Actions  1": [[46, "actions"]], "Subscriber 1": [[46, "subscriber"]], "Services": [[46, "services"]], "Further information": [[46, "further-information"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "Execution logic of the controller": [[50, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[50, "references-from-a-preceding-controller"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Communication protocols": [[55, "communication-protocols"]], "End-effectors": [[55, "end-effectors"]], "Non robot-devices": [[55, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[55, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[55, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation - Humble!": [[56, "welcome-to-the-ros2-control-documentation-humble"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": {}})
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diff --git a/iron/.doctrees/doc/acknowledgements/acknowledgements.doctree b/iron/.doctrees/doc/acknowledgements/acknowledgements.doctree
index 7903c476d44b3494103879c7abae60714c66d784..20f99a4f7dae451fabafbac72c78c923b2e70228 100644
GIT binary patch
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diff --git a/iron/.doctrees/doc/contributing/contributing.doctree b/iron/.doctrees/doc/contributing/contributing.doctree
index 311578c85849f3b678fa9419238611d81e4d793b..1bd1f9027419bd739b5910403511fc0f88b3c6a2 100644
GIT binary patch
delta 64
zcmaERl=1CR#tq?&hS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
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delta 64
zcmaERl=1CR#tq?&h9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
TMv2A-#ugTasTP|%7*i7g%VHEZ

diff --git a/iron/.doctrees/doc/differences_to_ros1/differences_to_ros1.doctree b/iron/.doctrees/doc/differences_to_ros1/differences_to_ros1.doctree
index 4ac5904e849a16362aeec9fe229d20242ad56db0..72abca86eeb80a807bab22f5e37435790e44d789 100644
GIT binary patch
delta 64
zcmey+$Mm6(X@eG{VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
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delta 64
zcmey+$Mm6(X@eG{p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
TQKGSdv4w?Us>SALM$t9^r?C@D

diff --git a/iron/.doctrees/doc/gazebo_ros2_control/doc/index.doctree b/iron/.doctrees/doc/gazebo_ros2_control/doc/index.doctree
index 633a7c88ece5fb496ad137b4e98d86e968baf38a..3c6c6531ce2067b1bde11e16583c2b4e0dd12bb5 100644
GIT binary patch
delta 129
zcmaF3mFeMDrVSR1M%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
hW){YYM&^cQ1}XZJ_i@N>ZfAU5NuFMb&3md<<pF%eC++|M

delta 129
zcmaF3mFeMDrVSR1MkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
hMv2A-#ugTasTTT^_i@N>ZfAU5NuFMb&3md<<pE*bC%6Cr

diff --git a/iron/.doctrees/doc/getting_started/getting_started.doctree b/iron/.doctrees/doc/getting_started/getting_started.doctree
index 3d682bd1b36136455043af8361a47ecd1cd0a359..1ff399b77edc4dc7bb082a4edaec1d33bee669c5 100644
GIT binary patch
delta 64
zcmbQWk9pQU<_!jnhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
UW){YYM&^cQ1}U2p8F$_V0HO>OBLDyZ

delta 64
zcmbQWk9pQU<_!jnh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
UMv2A-#ugTasTP|P8F$_V0GLS>2mk;8

diff --git a/iron/.doctrees/doc/gz_ros2_control/doc/index.doctree b/iron/.doctrees/doc/gz_ros2_control/doc/index.doctree
index 6548a59744aa22d4d46db79cdb75307c95168f89..086f515c8dba7cb53257e962667211c21a83adcb 100644
GIT binary patch
delta 123
zcmdn8f@#YNrVR#+hS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
fW){YYM&^cQ1}U2p8Ml>@u5EH6qv+<?itEw<IJzYx

delta 123
zcmdn8f@#YNrVR#+h9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
fMv2A-#ugTasTP|P8Ml>@u5EH6qv+<?itEw<9*-pL

diff --git a/iron/.doctrees/doc/project_ideas.doctree b/iron/.doctrees/doc/project_ideas.doctree
index e7c2946c447807b4165fc106a1737d5f21bbb396..f0c6abe95e2b7ad164e1153c61ded97882b3ca66 100644
GIT binary patch
delta 64
zcmZ4digEEP#tk}*hS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
UW){YYM&^cQ1}U3k8IKhM0J&cjBme*a

delta 64
zcmZ4digEEP#tk}*h9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
UMv2A-#ugTasTP}K8IKhM0I!@B2><{9

diff --git a/iron/.doctrees/doc/resources/resources.doctree b/iron/.doctrees/doc/resources/resources.doctree
index 8f3665fe2fb13a3077042a9bf188d9e437867913..851f333686174219342c8e635144e4ab8130e841 100644
GIT binary patch
delta 68
zcmZ41%et(Wb%P3{VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
XnT2tpk-4FnK}vHd<MvQS#z0p9+7T0@

delta 68
zcmZ41%et(Wb%P3{p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
XQKGSdv4w?Uszq}s<MvQS#z0p9&*Bq^

diff --git a/iron/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree b/iron/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree
index 9ea251fccced1645183e4d0809c8f2c6ef59cdfa..9fc1b5ad0eb06d5bd0ab74350144045dcd56605b 100644
GIT binary patch
delta 64
zcmaENjPczu#tjyXhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
TW){YYM&^cQ1}U2}8CjD6&HEF$

delta 64
zcmaENjPczu#tjyXh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
TMv2A-#ugTasTP|v8CjD6#5fb3

diff --git a/iron/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree
index 5e273d28c9f94198beb548c12b9fd2a2d0049e1a..9b13684f88c63fd02435221624c666378552c7ca 100644
GIT binary patch
delta 69
zcmbRAlyTBi#tm+aM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJdBQX{FJSys000@Z70Uns

delta 69
zcmbRAlyTBi#tm+aMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^dBQX{FJSys000ka6|evR

diff --git a/iron/.doctrees/doc/ros2_control/doc/index.doctree b/iron/.doctrees/doc/ros2_control/doc/index.doctree
index d714f862ab388b4f6434c349f3a4aa49b0f401b8..d64c249b6a3608ec327cd9c7ac24bfd6d25cf1b1 100644
GIT binary patch
delta 62
zcmaE2_{4C79iw4(p;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=6uFdaR7hI5~%<H

delta 62
zcmaE2_{4C79iyR1a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=6uFdaR7D*5{>`>

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree
index 2f386e743ff969ea3dbc6e26d330fd20e0ba2bc7..2babab147e44a3e02a08fe847e330f8df219560b 100644
GIT binary patch
delta 64
zcmX^0obl9i#tnXqhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
TW){YYM&^cQ1}U5C8NG`D(i{{t

delta 64
zcmX^0obl9i#tnXqh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
TMv2A-#ugTasTP~-8NG`D$XOH_

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree
index e72b26f17df5de9d3557b715d520cdac5d78d8c8..9517ffa0b5de8175b149ed4b9a98f4f4e409ada8 100644
GIT binary patch
delta 69
zcmZ3ol5xpO#tj~fM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJ{aKwi?`3=*1ONp^6?y;w

delta 69
zcmZ3ol5xpO#tj~fMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^{aKwi?`3=*1OWQ%6<+`V

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree
index 157b039ef45c293994db3c5662f76cd324b77140..5367ad49f9ebfb68266228574c907f635324bdb5 100644
GIT binary patch
delta 69
zcmdmgg>nBC#tlJ?M%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJPjY!|KEqg?0RS(+7DWI6

delta 69
zcmdmgg>nBC#tlJ?MkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^PjY!|KEqg?0RSa-7AgP$

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree
index 9f73d5a55f27dfbe71e7d625a45c55d0274e14a6..88d329051b91bd0e4e6228a80295fd249ece20fc 100644
GIT binary patch
delta 62
zcmexg^1oz*1EXPfp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=0Zk3O8~3i6C?lt

delta 62
zcmexg^1oz*1EZlya#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=0Zk3O8}xA6A1tS

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree
index cdcda273aaac70cbf982a6f8380fc2c533277a08..edf6916bb7704be1e25cf59e1753ab1ca792df3d 100644
GIT binary patch
delta 64
zcmaFb!1A<#WrH81VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
TnT2tpk-4FnLCWTO#%KQku=^Cr

delta 64
zcmaFb!1A<#WrH81p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
TQKGSdv4w?Us>SAd#%KQkr#KX@

diff --git a/iron/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index ce1addc53eed68de09611c003297cb56a1867f28..2b3589a5d73e8303a8bf1948bdddf50d5c700900 100644
GIT binary patch
delta 64
zcmaF%iSgMd#tn9ihS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
UW){YYM&^cQ1}U5K8NZhU0OFn%6951J

delta 64
zcmaF%iSgMd#tn9ih9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
UMv2A-#ugTasTP~_8NZhU0NC3U_y7O^

diff --git a/iron/.doctrees/doc/ros2_control_demos/doc/index.doctree b/iron/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 85e48d58febd7072592587554903dd662c2d4626..45e7123ee926934dfddd267f56065502e0cbabdb 100644
GIT binary patch
delta 69
zcmdng!Mv%1d4n0FQFftOUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
ZnT2tpk-4FnL5lw5#!cdz>lrs60s#DQ754xD

delta 69
zcmdng!Mv%1d4n0Fkx6n<VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
ZQKGSdv4w?Us)hdK#!cdz>lrs60s!(R72E&-

diff --git a/iron/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree b/iron/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree
index 90f17da7c95138d71781591e7bb7cd64520353e2..86e02842273e19d1717d0050b8d54f08ae5b4ee2 100644
GIT binary patch
delta 62
zcmeB_>Xh2h&tjNeXqK0gpPHy|Y+{g>W|?M@YLu32Vqs`uY+z}am||v}W?+zPVq|7v
RoM>cjXl9VI`2dS22LN3>5;6b)

delta 62
zcmeB_>Xh2h&thnjTvV8z6Q8YbVVPoJZfRhVYHnbeVw_@bX_%C3nPi?~WN2ZQYGIUU
RY+!6*VVG*M`2dS22LMxf5*Gjf

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree
index 83ec3b8260aad354201c62a851b681976895e993..e02cd39c8eba1250f8dc5e9636ce6b3abf910baf 100644
GIT binary patch
delta 76
zcmezSpXKj=mJLyiM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
gW){YYM&^cQ1}XZJ_{As73WzrEVBEfgk<rx-00UPS*#H0l

delta 76
zcmezSpXKj=mJLyiMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
gMv2A-#ugTasTTT^_{As73WzrEVBEfgk<rx-0Qf-{z5oCK

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree
index 31c02a00e0cdd6ff4acf6a07158ce8fc1d7a6635..fa7cc13edaccf146935be0ab9b66302a6200b8ec 100644
GIT binary patch
delta 64
zcmeC0&(t-aX+sR7VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
TnT2tpk-4FnLCWS{#=pG)m68+>

delta 64
zcmeC0&(t-aX+sR7p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
TQKGSdv4w?Us>SAB#=pG)i_a7E

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree
index c7603e44a8e1fc9afa7ae431054542f920aa0ffc..acc24e443d97bd4594fcd8ec9807da7f4c14a440 100644
GIT binary patch
delta 73
zcmaFf$@ILFX+sR7QFftOUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
dnT2tpk-4FnL5lulLjm#0Yg?o@A7E5(1^{&I7U}>1

delta 73
zcmaFf$@ILFX+sR7kx6n<VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
dQKGSdv4w?Us)hb!Ljm#0Yg?o@A7E5(1^{X{7S8|x

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree
index 65042c395a661a89882ba8d0cf8b7cb5748af902..1986022caf299e0405450ad37e1d42237ff1ac68 100644
GIT binary patch
delta 73
zcmX^7m+A0drVTNSM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
dW){YYM&^cQ1}XZJCvb^R?%XH6`2ZvHUI3*|7!Lpd

delta 73
zcmX^7m+A0drVTNSMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
dMv2A-#ugTasTTT^Cvb^R?%XH6`2ZvHUI3by7xVxC

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree
index 5bdac9f6bbbf73887369c04be06a58a5fcd80999..cd2c2551e3dbc0fb3b98a821a1fe1e4d00364e40 100644
GIT binary patch
delta 73
zcmdn7oN32$rVTNSM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
dW){YYM&^cQ1}XZJ1^LA%*G-n*e1P%CL;z|>7iIte

delta 73
zcmdn7oN32$rVTNSMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
dMv2A-#ugTasTTT^1^LA%*G-n*e1P%CL;zor7fS#D

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree
index 88584d69062e870381d9263f54180cd05c2b5a8d..63aac17c2733d26550727b057a213004bbec09aa 100644
GIT binary patch
delta 69
zcmcb&hUwlKrVUYyM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJ9i>z^Z)99M1pp~l73}~3

delta 69
zcmcb&hUwlKrVUYyMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^9i>z^Z)99M1pprm7196z

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree
index 1ef3faa89113f95253c120c731681d3674c998a0..a5138d843e7aa74d254e7b7d4563ab12133562e0 100644
GIT binary patch
delta 73
zcmaFxhUvi@rVUYyM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
dW){YYM&^cQ1}XZJ1^L7$t8bIqyq9tD767BQ7t;U$

delta 73
zcmaFxhUvi@rVUYyMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
dMv2A-#ugTasTTT^1^L7$t8bIqyq9tD766$47q|cb

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree
index dcb3819dca70612a55091226beb5fc8ad1f3f1a3..49e29593277e74c49a826d1103338f3f1b148f5b 100644
GIT binary patch
delta 73
zcmX@KjOoxarVUYyM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
dW){YYM&^cQ1}XZJ75K#`_wtEu-oe;45ddp77Lxz~

delta 73
zcmX@KjOoxarVUYyMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
dMv2A-#ugTasTTT^75K#`_wtEu-oe;45ddI+7I**v

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree
index 26c41882c566058517441f0fddd42378e16202c1..851d8010f961493593b92a219454b309b164f67f 100644
GIT binary patch
delta 69
zcmX@NpXuCwrVUYyM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJC&s95-pD9B4*)Iw75@ML

delta 69
zcmX@NpXuCwrVUYyMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^C&s95-pD9B4*(;x732T_

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree
index 3b7713eb95162f27961aa4328999655b44ece93b..98bb9af43e36a96ea64ff7573e416a6eec9d8d31 100644
GIT binary patch
delta 73
zcmccF#B{TXX+spFQFftOUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
dnT2tpk-4FnL5lw5KpyeQ3XM{m_cG3@2LNVf7PkNZ

delta 73
zcmccF#B{TXX+spFkx6n<VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
dQKGSdv4w?Us)hdKKpyeQ3XM{m_cG3@2LM~J7MuV8

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree
index f4897395a698cacf3d9d7bde4dba57809c51b05e..8ed74e3cc3c0e5a7b06a75c6939a6b458ae7ffea 100644
GIT binary patch
delta 73
zcmX?bknO-hwhd8?M%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
dW){YYM&^cQ1}XZJ?>VV9Z)DuQk&%&qJ^+UL7f%2H

delta 73
zcmX?bknO-hwhd8?MkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
dMv2A-#ugTasTTT^?>VV9Z)DuQk&%&qJ^*|~7c>9>

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree
index abeae5cbaa1481b2a4b09c90b2dabf9bfbfb96d8..cd648611555cd5ea0f59ecf0d7939e8f3dc53159 100644
GIT binary patch
delta 73
zcmZqp%GmIgaYGcNQFftOUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
dnT2tpk-4FnL5lw5gFNDs-K(TF?`1q(0RVal7nuM6

delta 73
zcmZqp%GmIgaYGcNkx6n<VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
dQKGSdv4w?Us)hdKgFNDs-K(TF?`1q(0RV4P7k&T$

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree
index 84bc3222a7a22562212679808fe3fc49b5f86091..91123ff5f5e625574273be50bf326d31470faf07 100644
GIT binary patch
delta 76
zcmbO^k7?#SrVUYyrrCvNc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
gW){YYM&^cQ1}XX}`N@+R!$l^a<LBPIjxoCz0Ge|bn*aa+

delta 76
zcmbO^k7?#SrVUYyrY6Znh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
gMv2A-#ugTasTTSv`N@+R!$l^a<LBPIjxoCz0FP`JfB*mh

diff --git a/iron/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree
index f37fddf76058414e32d69d0dbd451e3d6e8c5f62..0c75b44ddf25004f7862582b0d27f2b96cd9f9f9 100644
GIT binary patch
delta 71
zcmeB)>WSJA!)TOUXqK0gpPHy|Y+{g>W|?M@YLu32Vqs`uY+z}am||v}W?+zPVq|7v
aoM>cjXl9V2KlviR=;Rn-xy=U|y|n=*G8KIQ

delta 71
zcmeB)>WSJA!)RoZTvV8z6Q8YbVVPoJZfRhVYHnbeVw_@bX_%C3nPi?~WN2ZQYGIUU
aY+!6*VVG*6KlviR=;Rn-xy=U|y|n=wd=+8<

diff --git a/iron/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree
index 844c13f493ac549c6fd6c918ee19fa775e764a1c..446b9383efd36b8ee9d1c6a7aaaf002d9f9d48ed 100644
GIT binary patch
delta 127
zcmX@!z<j)cd4mt5VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
jnT2tpk-4FnLCWS@MyU?cwN0*N)R|mYB)XZi%gzh{t|BG0

delta 127
zcmX@!z<j)cd4mt5p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
jQKGSdv4w?Us>SA7MyU?cwN0*N)R|mYB)XZi%gzh{lOH91

diff --git a/iron/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree
index 6240e421aa5dc6b2960078d09fcf7c4bd2c22414..60a6489cb0a58202a07a7abde095555f7fdbd6d0 100644
GIT binary patch
delta 67
zcmX@;d(d}71fx-Qp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
WaiWpAp_xI7{$xQx(arN2l~e)X2NRkA

delta 67
zcmX@;d(d}71f!8ja#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Wv4OFLg<-0N{$xQx(arN2l~e)My%T=`

diff --git a/iron/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree
index 64dfd455db35a07280baa0338fb5335320434c83..ae1de170e3c72bd49409088767a4eb49c884acf2 100644
GIT binary patch
delta 123
zcmcb%konp|<_$iKhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
gW){YYM&^cQ1}U3s8NVJPUEAbZMxD*)kFfIq0E#9iFaQ7m

delta 123
zcmcb%konp|<_$iKh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
gMv2A-#ugTasTP}S8NVJPUEAbZMxD*)kFfIq0B`#x`Tzg`

diff --git a/iron/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/iron/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index e961a992f2ceb1c3a5d9173102bb63c89ccb4eb8..302557849751795a5de94387b70cfdf5c917f726 100644
GIT binary patch
delta 67
zcmexZ^RZ@w2BT4Sp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
WaiWpAp_xI7{^UX)(argcOtt_A2^32J

delta 67
zcmexZ^RZ@w2BVQla#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Wv4OFLg<-0N{^UX)(argcOtt|0uoN%=

diff --git a/iron/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/iron/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 3645feaad49aa78e363778502ffa49386619f45d..1f1e196a23771cd3b9acf0814fff51d6f826bc47 100644
GIT binary patch
delta 64
zcmZ2<jd{^E<_!*vhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
UW){YYM&^cQ1}U2h88^NJ0JTUIhX4Qo

delta 64
zcmZ2<jd{^E<_!*vh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
UMv2A-#ugTasTP|H88^NJ0IP)*YybcN

diff --git a/iron/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index b4c45f41012c27f4be256f03b2b193343af1ac69..1f5c0562945e5e75ee56dad8ecd33f277df7f518 100644
GIT binary patch
delta 62
zcmbQ|FwbFw8>3-%p;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=5og6asX$_5`+K%

delta 62
zcmbQ|FwbFw8>68~a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=5og6asXZj5@`Sc

diff --git a/iron/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index dee9389da8b8614e5962d6bca0705d1c05750752..10cf8e394c986e61289e1895229e92f12a2c15cb 100644
GIT binary patch
delta 123
zcmX>+f${JJ#tjLKhS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
fW){YYM&^cQ1}U2-GL~DDu5I!}MzhWNwpX|SHSZ+}

delta 123
zcmX>+f${JJ#tjLKh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
fMv2A-#ugTasTP|jGL~DDu5I!}MzhWNwpX|S8^k2j

diff --git a/iron/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index d28626c2d0ca55fed55c80ab8a7611546c13bb94..c3a1c283226caf3bb4e608a6b97d1864c3f62005 100644
GIT binary patch
delta 67
zcmX?`ayDf{7^6{kp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
XaiWpAp_xI7{^U+6gUve_ry2kN_g@te

delta 67
zcmX?`ayDf{7^9I%a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Xv4OFLg<-0N{^U+6gUve_ry2kN?G+UE

diff --git a/iron/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree
index cb573a4ad1a13862204181f359f7361a2a74e1d9..8176b1daa97a23e8f74ad5ad9fa8b2d59066c614 100644
GIT binary patch
delta 67
zcmeCm>B`yQ!Dy6SXqK0gpPHy|Y+{g>W|?M@YLu32Vqs`uY+z}am||v}W?+zPVq|7v
WoM>cjXl9V2KY6Zz=H|tW=_UZx0~ApJ

delta 67
zcmeCm>B`yQ!DwWXTvV8z6Q8YbVVPoJZfRhVYHnbeVw_@bX_%C3nPi?~WN2ZQYGIUU
WY+!6*VVG*6KY6Zz=H|tW=_UZmxfC`4

diff --git a/iron/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree
index 59ea9a4dd53b872802aaa3bf857a4bfb9192d003..12b5bb9bb56f88143d4b033db2cd4944ce2b0ba4 100644
GIT binary patch
delta 133
zcmdnr$hg0eaf2VDQFftOUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
knT2tpk-4FnL5lulK|!6(YZ!fv$<#aftdaWWI#Wk(0B|ZMuK)l5

delta 133
zcmdnr$hg0eaf2VDkx6n<VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
kQKGSdv4w?Us)hb!K|!6(YZ!fv$<#aftdaWWI#Wk(090xwc>n+a

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index 4585b73308b3acc21f60698cfbe45dddca9dab35..8122c6b6ac7545e6b6a332c0db8e54b1fc72e76d 100644
GIT binary patch
delta 64
zcmeynpYiX0#ti|ChS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
TW){YYM&^cQ1}U2x8EfJI*pn1%

delta 64
zcmeynpYiX0#ti|Ch9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
TMv2A-#ugTasTP|X8EfJI&d?N4

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree
index 6ff4dcea05edd79a50a7d532defcfbc844204170..30e0b86a3fd6bb8165fe6b72f5dafbcc403210b5 100644
GIT binary patch
delta 69
zcmbPunQ7u>rVVP0M%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJElcb-PiOqK8~_V_79Rir

delta 69
zcmbPunQ7u>rVVP0MkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^Elcb-PiOqK8~_0`76bqQ

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree
index 04c46815af8a1c4a9e4c133eb8d5eb5a0d201c6f..5766e6ba87985aeaca4e7da2b09500ba3dac2442 100644
GIT binary patch
delta 69
zcmX@Img&e^rVTZWM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJ<6G@Fzh%5W1pq1@7Ulo|

delta 69
zcmX@Img&e^rVTZWMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^<6G@Fzh%5W1ppt^7Rvwt

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index ab13871f601354284af743dc75c07f0969ece836..aa6e4077d0db07663348d1cfc7003e1dc2fbbbdb 100644
GIT binary patch
delta 69
zcmex+o$2p&rVSB{M%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJ9eHdvA7eCM1prSl7Cis}

delta 69
zcmex+o$2p&rVSB{MkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^9eHdvA7eCM1pq|m79s!u

diff --git a/iron/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index 7195b61d5ee260093077763c10ae55da8618c213..2b5dab395c12b0a60354255dad34702c03887ebc 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=4!^5asY~+6IuWO

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=4!^5asYta6F&d|

diff --git a/iron/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree
index c97c059dc7a0171a99169039be4980c78624f298..8ca5151be2c40e619f865f673efd9a67a12ed978 100644
GIT binary patch
delta 121
zcmdl}yr+0W5Tjvsp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
daiWpAp_xI-WIa9o&6^m#bx7B`Sx>Kz8vy<CBgFs!

delta 121
zcmdl}yr+0W5Tl_<a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
dv4OFLg<-12WIa9o&6^m#bx7B`Sx>Kz8vx`pBaZ+8

diff --git a/iron/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree
index 2a5a39684438c45c7fa7c6c39da41a9db219d8aa..21b36a1b3a3b8c36e1441fb1d77276d5704cd1c9 100644
GIT binary patch
delta 62
zcmbO)H(zc;0;6Gep;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=824byZ~N95=;O9

delta 62
zcmbO)H(zc;0;8cxa#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=824byZ}^y5-|V(

diff --git a/iron/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree
index e8bcfe900e725356f597b6824fcd8ff1fce6bc7a..426d3a9186086bd589a49c23c3673c15bf63ff19 100644
GIT binary patch
delta 69
zcmeylo$2RxrVUYyM%jgCc{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
ZW){YYM&^cQ1}XZJ`-E*bpJX(c1pq&N7B~O^

delta 69
zcmeylo$2RxrVUYyMkdKch3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
ZMv2A-#ugTasTTT^`-E*bpJX(c1pqZO799Wp

diff --git a/iron/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index 1540424415c0ee78a0dbffe30e6603e8745969bd..b7018cd83b44950348843515c9fe00d4e45e48ab 100644
GIT binary patch
delta 64
zcmeD9z}WGDaf1h=VRoTeUQT{$qQ0?-L0Xz+nnkKnTC$0Sp@p%5rD0-<nQ@wdL9&UF
TnT2tpk-4FnLCWSz#{Mz@wNn%R

delta 64
zcmeD9z}WGDaf1h=p-FO4VR}w{w!VdBih;SMfkmphfn|zuin*m>QnF=|d5V#tg;}bF
TQKGSdv4w?Us>S9?#{Mz@tB@1p

diff --git a/iron/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree
index 793dd09e895b05fc9271af058f67a7105ea5b012..6df3bf0c8552e2294401a35d022f50dc21516321 100644
GIT binary patch
delta 71
zcmaDI_&RVy6r)jgp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
baiWpAp_xI7{^Wjs(aAsAH8!7QR8j{3R!SCI

delta 71
zcmaDI_&RVy6r+(za#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
bv4OFLg<-0N{^Wjs(aAsAH8!7QR8j{3OOzHs

diff --git a/iron/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index 4ffbf7003c32fb94356a8a3642d6f4e6ffc04547..e05f09047a1a10b68abd59e18d16e251a59ae174 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=v57%inq`_rs!>|9iG`tsv4N#wVv3n@nt?&GiIJIw
RaiWpAp_xI-=4!^5asY~+6IuWO

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh$g=LC?xut<cs=0w>igAj$rD0OCWs-S{k)efIs)bRa
Rv4OFLg<-12=4!^5asYta6F&d|

diff --git a/iron/.doctrees/doc/simulators/simulators.doctree b/iron/.doctrees/doc/simulators/simulators.doctree
index b99c3ce0304e0837ac530d8a3620dc365564957e..5e4518ff3bf4fa15272ced8fe6a9dbe42411318e 100644
GIT binary patch
delta 62
zcmZoNZ!+JY#%P#bXqK0gpPHy|Y+{g>W|?M@YLu32Vqs`uY+z}am||v}W?+zPVq|7v
RoM>cjXl9VIIh;{j3II)>5qbas

delta 62
zcmZoNZ!+JY#%O4gTvV8z6Q8YbVVPoJZfRhVYHnbeVw_@bX_%C3nPi?~WN2ZQYGIUU
RY+!6*VVG*MIh;{j3IIdf5nliR

diff --git a/iron/.doctrees/doc/supported_robots/supported_robots.doctree b/iron/.doctrees/doc/supported_robots/supported_robots.doctree
index 124f5950b55e41990e58e1842a4f6a52ce1fea98..3c34547b989b70908ef507b206d8b0aaf80d0b56 100644
GIT binary patch
delta 64
zcmX@QgYoDN#trd|hS`N?c{%y1iTcJS25D)QX%?wQX~`xQh8D&KmWGKbX2xj-2FWHy
UW){YYM&^cQ1}U2-Fm8<k0KMN7KmY&$

delta 64
zcmX@QgYoDN#trd|h9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
UMv2A-#ugTasTP|jFm8<k0JIzwB>(^b

diff --git a/iron/.doctrees/environment.pickle b/iron/.doctrees/environment.pickle
index 043a1e4e27ead1a6930e12a311df9f8e8e0bd88e..7a7058506ff6d9788cecb2dd7467d94c625ecfb1 100644
GIT binary patch
delta 49770
zcmeFa2YggT^f2n(>}FGTlkBGVgoG4AvhD69p(UY1=uMCsLd#MTn$iPEF(E+U0*9sq
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diff --git a/iron/.doctrees/index.doctree b/iron/.doctrees/index.doctree
index ad96b618f9cb55656c8081862bb00af6e1134919..81f323615d65b0c49eeb90d47810d4cd3fd87684 100644
GIT binary patch
delta 78
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delta 78
zcmbPxopJ7U#tmkSh9=2Hh3Pr*+4>fiDF)`21{SI229_ztDdv`jNy(N;<|#&o7G|jy
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diff --git a/iron/doc/acknowledgements/acknowledgements.html b/iron/doc/acknowledgements/acknowledgements.html
index 6bb56a08952..3b3c1cffe39 100644
--- a/iron/doc/acknowledgements/acknowledgements.html
+++ b/iron/doc/acknowledgements/acknowledgements.html
@@ -214,7 +214,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -332,7 +332,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -383,15 +383,15 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>577</td>
-                <td>405
+                <td>580</td>
+                <td>404
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.70
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 70.19064124783363%;"></div>
+                        <div class="progress-value-ratio" style="width: 69.6551724137931%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-03T11:07:19Z</td>-->
@@ -412,18 +412,18 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>238</td>
-                <td>214
+                <td>242</td>
+                <td>218
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 52.8395061728395%;"></div>
+                        <div class="progress-value-reviews" style="width: 53.960396039603964%;"></div>
                     </div>
                 </td>
                 <td>0.90
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 89.91596638655463%;"></div>
+                        <div class="progress-value-ratio" style="width: 90.08264462809917%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-05T08:25:35Z</td>-->
+                <!--<td>2024-04-07T18:06:50Z</td>-->
             </tr>
         
             <tr>
@@ -441,15 +441,15 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>479</td>
-                <td>111
+                <td>482</td>
+                <td>110
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 27.40740740740741%;"></div>
+                        <div class="progress-value-reviews" style="width: 27.22772277227723%;"></div>
                     </div>
                 </td>
                 <td>0.23
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 23.173277661795407%;"></div>
+                        <div class="progress-value-ratio" style="width: 22.821576763485478%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-04T06:34:04Z</td>-->
@@ -457,7 +457,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -508,7 +508,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>1435</td>
+                <td>1439</td>
                 <td>1147
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
@@ -516,7 +516,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                 </td>
                 <td>0.80
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 79.93031358885018%;"></div>
+                        <div class="progress-value-ratio" style="width: 79.70813064628214%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-03T11:07:19Z</td>-->
@@ -537,7 +537,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>1155</td>
+                <td>1159</td>
                 <td>604
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 52.65911072362685%;"></div>
@@ -545,7 +545,7 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                 </td>
                 <td>0.52
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 52.294372294372295%;"></div>
+                        <div class="progress-value-ratio" style="width: 52.11389128559103%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-04-04T06:34:04Z</td>-->
@@ -566,23 +566,23 @@ <h2>Maintainers<a class="headerlink" href="#maintainers" title="Link to this hea
                     </div>
                   </div>
                 </td>
-                <td>261</td>
-                <td>237
+                <td>266</td>
+                <td>242
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 20.662598081952922%;"></div>
+                        <div class="progress-value-reviews" style="width: 21.09851787271142%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 90.80459770114942%;"></div>
+                        <div class="progress-value-ratio" style="width: 90.97744360902256%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-05T08:25:35Z</td>-->
+                <!--<td>2024-04-07T18:06:50Z</td>-->
             </tr>
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -1109,6 +1109,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-05-22T09:27:11Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 66.0%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 1.2731229597388465%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -1190,33 +1217,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-06-26T17:38:05Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 56.00000000000001%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.9466811751904244%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -2299,7 +2299,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -3981,6 +3981,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2013-08-28T10:43:49Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 14.798206278026907%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 0.5655999226530021%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -4197,33 +4224,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2020-10-12T22:15:34Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 12.556053811659194%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.4205743014599246%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -7682,7 +7682,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -7733,18 +7733,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>166</td>
-                <td>151
+                <td>167</td>
+                <td>152
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 90.96385542168674%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.01796407185628%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -7762,15 +7762,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>85</td>
+                <td>86</td>
                 <td>54
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 35.76158940397351%;"></div>
+                        <div class="progress-value-reviews" style="width: 35.526315789473685%;"></div>
                     </div>
                 </td>
-                <td>0.64
+                <td>0.63
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 63.52941176470588%;"></div>
+                        <div class="progress-value-ratio" style="width: 62.7906976744186%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -7794,7 +7794,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>52</td>
                 <td>47
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 31.125827814569533%;"></div>
+                        <div class="progress-value-reviews" style="width: 30.92105263157895%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -7823,7 +7823,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>72</td>
                 <td>30
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.867549668874172%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.736842105263158%;"></div>
                     </div>
                 </td>
                 <td>0.42
@@ -7849,15 +7849,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.205298013245034%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.078947368421055%;"></div>
                     </div>
                 </td>
-                <td>0.28
+                <td>0.27
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 27.61904761904762%;"></div>
+                        <div class="progress-value-ratio" style="width: 27.358490566037734%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -7878,15 +7878,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.635761589403973%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.605263157894736%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -7910,7 +7910,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -7939,7 +7939,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -7965,15 +7965,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>96</td>
+                <td>98</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.125%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.061224489795918%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -7997,7 +7997,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8023,15 +8023,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.9047619047619049%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.8867924528301887%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -8052,15 +8052,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>124</td>
+                <td>125</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.6129032258064515%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.6%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -8081,15 +8081,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>107</td>
+                <td>109</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.8691588785046727%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.834862385321101%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -8113,7 +8113,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8139,15 +8139,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>97</td>
+                <td>98</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0204081632653061%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -8168,15 +8168,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>114</td>
+                <td>116</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8771929824561403%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8620689655172413%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -8197,15 +8197,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>112</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.9009009009009009%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -8229,7 +8229,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8258,7 +8258,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8287,7 +8287,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8316,7 +8316,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>73</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -8345,7 +8345,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>58</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -8374,7 +8374,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>35</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -8403,7 +8403,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8432,7 +8432,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8461,7 +8461,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8490,7 +8490,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8519,7 +8519,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8548,7 +8548,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8577,7 +8577,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8606,7 +8606,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8635,7 +8635,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8664,7 +8664,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8693,7 +8693,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.50
@@ -8722,7 +8722,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8806,7 +8806,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>113</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8835,7 +8835,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>103</td>
+                <td>102</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8980,7 +8980,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>59</td>
+                <td>58</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9009,7 +9009,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>49</td>
+                <td>48</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9067,7 +9067,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>50</td>
+                <td>49</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9228,7 +9228,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -9279,18 +9279,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
-                <td>156
+                <td>172</td>
+                <td>157
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 91.22807017543859%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.27906976744185%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -9311,7 +9311,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>186</td>
                 <td>118
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 75.64102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 75.15923566878982%;"></div>
                     </div>
                 </td>
                 <td>0.63
@@ -9340,7 +9340,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>115</td>
                 <td>104
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 66.66666666666666%;"></div>
+                        <div class="progress-value-reviews" style="width: 66.2420382165605%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -9369,7 +9369,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>93</td>
                 <td>60
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 38.46153846153847%;"></div>
+                        <div class="progress-value-reviews" style="width: 38.21656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.65
@@ -9395,15 +9395,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>88</td>
+                <td>89</td>
                 <td>57
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 36.53846153846153%;"></div>
+                        <div class="progress-value-reviews" style="width: 36.30573248407643%;"></div>
                     </div>
                 </td>
-                <td>0.65
+                <td>0.64
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 64.77272727272727%;"></div>
+                        <div class="progress-value-ratio" style="width: 64.04494382022472%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -9427,7 +9427,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>99</td>
                 <td>53
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.97435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.75796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -9453,15 +9453,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>196</td>
+                <td>198</td>
                 <td>52
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.33333333333333%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.12101910828025%;"></div>
                     </div>
                 </td>
-                <td>0.27
+                <td>0.26
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 26.53061224489796%;"></div>
+                        <div class="progress-value-ratio" style="width: 26.262626262626267%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -9485,7 +9485,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>48</td>
                 <td>46
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 29.48717948717949%;"></div>
+                        <div class="progress-value-reviews" style="width: 29.29936305732484%;"></div>
                     </div>
                 </td>
                 <td>0.96
@@ -9514,7 +9514,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>78</td>
                 <td>34
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 21.794871794871796%;"></div>
+                        <div class="progress-value-reviews" style="width: 21.656050955414013%;"></div>
                     </div>
                 </td>
                 <td>0.44
@@ -9540,15 +9540,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
+                <td>173</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 18.58974358974359%;"></div>
+                        <div class="progress-value-reviews" style="width: 18.471337579617835%;"></div>
                     </div>
                 </td>
                 <td>0.17
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 16.95906432748538%;"></div>
+                        <div class="progress-value-ratio" style="width: 16.76300578034682%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -9572,7 +9572,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>29</td>
                 <td>23
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.743589743589745%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.64968152866242%;"></div>
                     </div>
                 </td>
                 <td>0.79
@@ -9598,15 +9598,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>219</td>
+                <td>220</td>
                 <td>22
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.102564102564102%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.012738853503185%;"></div>
                     </div>
                 </td>
                 <td>0.10
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 10.045662100456621%;"></div>
+                        <div class="progress-value-ratio" style="width: 10.0%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -9630,7 +9630,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>199</td>
                 <td>21
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 13.461538461538462%;"></div>
+                        <div class="progress-value-reviews" style="width: 13.375796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.11
@@ -9656,15 +9656,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>210</td>
+                <td>212</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.095238095238095%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.018867924528301%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -9688,7 +9688,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>17</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9717,7 +9717,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>18</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.94
@@ -9743,15 +9743,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>191</td>
                 <td>16
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.256410256410255%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.191082802547772%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.421052631578947%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.37696335078534%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -9772,15 +9772,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>181</td>
+                <td>183</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.07
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.629834254143646%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.557377049180328%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -9801,15 +9801,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>192</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.06
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.315789473684211%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.25%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -9833,7 +9833,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.25
@@ -9862,7 +9862,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.69
@@ -9888,15 +9888,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>163</td>
+                <td>164</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>0.05
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 4.9079754601226995%;"></div>
+                        <div class="progress-value-ratio" style="width: 4.878048780487805%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-01-25T18:27:19Z</td>-->
@@ -9920,7 +9920,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9949,7 +9949,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9975,15 +9975,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -10007,7 +10007,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>135</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10036,7 +10036,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>131</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10065,7 +10065,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10094,7 +10094,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10123,7 +10123,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -10152,7 +10152,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10178,15 +10178,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>187</td>
+                <td>188</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.2085561497326207%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.1914893617021276%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-02-28T09:38:36Z</td>-->
@@ -10210,7 +10210,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>126</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10239,7 +10239,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>6</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10268,7 +10268,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>5</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10297,7 +10297,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>132</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>0.04
@@ -10326,7 +10326,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>147</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10355,7 +10355,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10384,7 +10384,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10413,7 +10413,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10442,7 +10442,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -10471,7 +10471,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10500,7 +10500,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10529,7 +10529,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>149</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10558,7 +10558,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>125</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10587,7 +10587,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10616,7 +10616,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>94</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10645,7 +10645,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10674,7 +10674,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10703,7 +10703,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10732,7 +10732,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10761,7 +10761,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10790,7 +10790,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.75
@@ -10816,15 +10816,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>192</td>
+                <td>194</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0416666666666665%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
                     </div>
                 </td>
                 <!--<td>2022-03-23T22:13:23Z</td>-->
@@ -10848,7 +10848,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>134</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -10877,7 +10877,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10906,7 +10906,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10935,7 +10935,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10964,7 +10964,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10993,7 +10993,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11022,7 +11022,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11048,15 +11048,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>112</td>
+                <td>113</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8849557522123894%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -11080,7 +11080,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11109,7 +11109,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11138,7 +11138,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11167,7 +11167,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>87</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -11196,7 +11196,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>47</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -11225,7 +11225,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
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           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
diff --git a/iron/index.html b/iron/index.html
index bef5fcf82aa..f23a1f5cbdd 100644
--- a/iron/index.html
+++ b/iron/index.html
@@ -139,7 +139,7 @@ <h2>Development Organisation and Communication<a class="headerlink" href="#devel
 </dd>
 </dl>
 <hr class="docutils" />
-<p>Built on 2024-04-07 at 05:31 GMT</p>
+<p>Built on 2024-04-08 at 05:31 GMT</p>
 </section>
 </section>
 
diff --git a/iron/searchindex.js b/iron/searchindex.js
index 25039180f61..51a86b5c915 100644
--- a/iron/searchindex.js
+++ b/iron/searchindex.js
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45], "new": [1, 7, 8, 15, 19, 22, 25, 29, 36, 45, 56], "code": [1, 2, 4, 6, 7, 15, 29], "test": [1, 3, 6, 14, 15, 17, 19, 24, 31, 32, 33, 34, 35, 37, 39, 42, 48, 50, 52], "If": [1, 2, 8, 9, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 37, 39, 43, 44, 45, 46, 50, 51, 56], "function": [1, 2, 6, 7, 22, 29, 33, 50], "alwai": [1, 29], "exercis": 1, "serv": [1, 4, 6], "live": [1, 7], "origin": [1, 3, 5, 7, 19, 29, 45, 46], "intent": [1, 8, 14], "section": [1, 2, 11, 13, 15, 37, 46], "target": [1, 9, 15, 33, 37, 40, 44, 46], "also": [1, 2, 3, 4, 5, 6, 7, 8, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 46], "read": [1, 2, 3, 4, 5, 9, 11, 13, 15, 17, 22, 23, 26, 27, 29, 33, 37, 43, 44, 48, 50], "understand": [1, 6, 45], "how": [1, 6, 7, 13, 15, 17, 20, 21, 22, 23, 25, 26, 27, 28, 29, 31, 35, 37, 51], "handl": [1, 2, 4, 6, 7, 15, 26, 29, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 46, 48, 50, 51, 52], "organ": [1, 7, 56], "guidelin": 1, "especi": [1, 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40, 42, 45, 46, 48, 50, 56], "must": [1, 3, 5, 8, 9, 13, 17, 29, 33, 42, 44, 46], "approv": 1, "two": [1, 4, 6, 8, 9, 15, 17, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 39, 45, 46, 50, 51, 52], "explicitli": 1, "onli": [1, 2, 4, 6, 7, 8, 9, 12, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 34, 35, 37, 38, 39, 43, 44, 45, 46, 47, 50, 53], "except": [1, 20, 29], "other": [1, 2, 3, 4, 7, 15, 17, 23, 28, 29, 32, 34, 37, 43, 45, 50, 52], "where": [1, 3, 6, 8, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 32, 34, 35, 37, 43, 44, 45, 46, 50, 52], "back": 1, "traceabl": 1, "discuss": [1, 7, 22, 31, 45, 56], "suffici": [1, 3, 5, 8, 39], "note": [1, 4, 9, 19, 46, 56], "still": [1, 2, 19, 22, 23, 24, 25, 26, 27, 28, 30, 36, 45], "encourag": 1, "help": [1, 9, 11, 14, 15, 16, 35, 37], "u": [1, 3, 5, 9, 17, 44], "increas": [1, 24], "pace": 1, "veri": [1, 2, 3, 5, 6, 13], "like": [1, 2, 3, 4, 5, 6, 7, 15, 21, 22, 29], "find": [1, 3, 5, 11, 24], "issu": [1, 6, 56], "nobodi": 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23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 51, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50, 51], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35, 51], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 51, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22, 51], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], 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7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45, 51], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50, 51], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 51, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50, 51], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 51, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 51, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 51, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 51, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], 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33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37, 51], "link": [3, 4, 5, 7, 8, 12, 29, 33, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35, 51], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35, 51], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 51, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 51], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41, 51], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 36, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 51, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 36, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 36, 38, 47, 53], "100": [3, 4, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "iron": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35, 51], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "uml": 4, "diagram": [4, 16], "intern": [4, 6, 8, 11, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 33, 45, 46], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29, 36], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 51], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35, 51], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50, 51], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 36, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 36, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 14, 20, 24, 29, 31, 33, 44], "pure": 4, "could": [4, 7, 8, 17, 25, 37, 43, 46], "altern": [4, 19, 46], "script": [4, 6, 15, 37], "skeleton": 4, "sim": [5, 16, 54], "dockerfil": [5, 17], "Then": [5, 8, 17, 29, 31, 45], "ign": 5, "meet": [5, 56], "prerequisit": 5, "along": 5, "gazebosimsystem": 5, "libgz_ros2_control": 5, "gazebosimros2controlplugin": 5, "gazebosimsysteminterfac": 5, 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"Writing documentation": [[1, "writing-documentation"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "CI configuration": [[1, "ci-configuration"]], "Documentation Usage": [[1, "documentation-usage"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [12, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Common Controller Parameters": [[36, "common-controller-parameters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, 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38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 51, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 51, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50, 51], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41, 51], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37, 51], "link": [3, 4, 5, 7, 8, 12, 29, 33, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35, 51], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35, 51], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 51, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 51], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41, 51], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 36, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 51, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 36, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 36, 38, 47, 53], "100": [3, 4, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "iron": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35, 51], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "uml": 4, "diagram": [4, 16], "intern": [4, 6, 8, 11, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 33, 45, 46], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29, 36], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 51], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35, 51], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50, 51], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 36, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 36, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 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"rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Writing documentation": [[1, "writing-documentation"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "CI configuration": [[1, "ci-configuration"]], "Documentation Usage": [[1, "documentation-usage"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [12, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Common Controller Parameters": [[36, "common-controller-parameters"]], "Writing a new controller": [[37, 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[[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "Execution logic of the controller": [[50, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[50, "references-from-a-preceding-controller"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Communication protocols": [[55, "communication-protocols"]], "End-effectors": [[55, "end-effectors"]], "Non robot-devices": [[55, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[55, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[55, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation - Iron!": [[56, "welcome-to-the-ros2-control-documentation-iron"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/master/.buildinfo b/master/.buildinfo
index d43b9811591..ded59055346 100644
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diff --git a/master/.doctrees/doc/acknowledgements/acknowledgements.doctree b/master/.doctrees/doc/acknowledgements/acknowledgements.doctree
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zu$Vczp_zti=$4PqRKtoaSsTgO<H$a?VI&zHKvJad7Pf9VhDPf@5nTxTSMeBF<>}aX
zmX;hQ4-5V0dv~Et4LL8vn5W2dTnKITba^`GkGZtxcO)&SnuEAP?%A><QcjzmAsa<k
zv0cnyOToal+&*ZtIwJ2`^(^6rzmqH2|0s;Y6VH<~kzfXR{bhpq=>Q;sn82W{aQqx@
zna($kghxaWF&Xv}-O7j!aNz{052w!fBUv(p3dhfh6BxSXlo*3|-X<jh<cSPi`*$J@
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zh}BzK4x~SJ0Q32pb0j{r-1+Z%jsn7pje%5jNhh3qK#p=`z`vfCY1xUWOG_Q8cL2Y+
z2}4R0fem78(}faPkr4litJkn{?ISpVEAgKLsd$C1gOAEg7_pu9FLpODF#js?H$g4I
zACTze(GmiepB6vBC3pBWybaL9o02SaO%k6E7xU(`vFM(^sAAZSx?$E+asej}PHj#1
zkv~94>7zi32R3bl`DNmq5VD8d^l$uUBSFG1LSgjCzsPc0Gig)|s$WLa1#<i8c5HGa
z3Uw9Y>0pVz|95{${4kW<PTTH65of#QGvPc3YsFFFmw;)@#9(uIZ3_0R5SMUNxK=Lq
zU@^@1!I9{F2QrU(@DwrBi+$dry+<Ndo&}=tZk^}w;I~q6_#SaB=H5`56|{A%)B$xV
zF&0RzJD2Ey6S2hE0Lc}!?y%erZ{I5xg}vJjixM7+6>zTq?(RzyA?F^JJK^Ws#f=gA
z=62yBRQlrZWB4JKivqOBI@<P2j)QfZJR~ZBFX#V@a9J43Ah;}q#e>UcG6%<yNi5xB
zBpwbr&Fj)ovtK+Ld>1eHode>EKx#i`)&Nb1M8wQOuHmJJkC`DRs~CkIaO44EVcfFU
zX|~*wK(IKNr30QU_Z%EXJ$YLKYd|oy6UZwf38QvEx+Z}YZTP!@UO62^$hj3;`XAuL
zpTxg}-KrDLzaxG!P=N36qxTd<Vc|*fOqc*f$Yo@Ca(&{%P!>3PMhvxDJH<0%&~skI
zUN~IATqVYu5rY|=G{Q|^+K()c$0da8!lWQe6eey@oDRP!mV8XY5CMIdXb6=K!bHPZ
z2CbK2EQ2u75m|DWXc$XBCW=)djOE46*xjZb4T)I4yCJ^W5h$P^{rm&8{U$u9+bOob
z7@U0}aX!rAoe-aet3${oJ0bmgVr&?-y~Qa+msd(SZG<R^9C7&jA}KI;a-rqB<g-g8
z`~o0YNGCk-o(EzFQ~iDxgXcaNNyj(tl0tLakAM8y>wE$iim)?I@>~?E(o(29JK>>C
z;VQHPI@_D)hF5<-%lk3$P(yY@)7YZW(&pEI7;K><oPpnPNS_J3L4PdyNcsq&uzrv9
zQMiT5XUK)nt`&_6Jj2(rAJ0JKe_B@BbX5RY{;fRPFaS8@(S|(QFnA@&qYdrUp8@k|
zLmq7~@jrSHI`&40Jlf!!A&)lX(FVjK@@PZYkex>x5F5^;4SlGaw~;^|ZRoQ`9&Pac
Y&)1tK@@PY+`2T`7tc9J6ivBVF-zWhXApigX

diff --git a/master/.doctrees/doc/contributing/contributing.doctree b/master/.doctrees/doc/contributing/contributing.doctree
index 6e512633ade152af5c4df78728dd4f59af4762f2..d234d148a56be03cdf506b4c090c15d8172e09be 100644
GIT binary patch
delta 64
zcmaERl=1CR#tq?&hS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
T1_s6^iD_o0W+t0E7*i7g#my8P

delta 64
zcmaERl=1CR#tq?&h9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
T#zqE~Nr@II78aX37*i7g*PRrw

diff --git a/master/.doctrees/doc/gazebo_ros2_control/doc/index.doctree b/master/.doctrees/doc/gazebo_ros2_control/doc/index.doctree
index c5cb04e35ce40ac392fecd00f3aeb6c9d2e24540..b56c49aca1b756a841880ff3db8512dc844b1c72 100644
GIT binary patch
delta 129
zcmex(fa&7_rVSR1M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
h1_s6^iD_o0W+wWR_i@N>ZfC5nCr_`$W}ik?c>qrZCguPD

delta 129
zcmex(fa&7_rVSR1MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
h#zqE~Nr@II78d%G_i@N>ZfC5nCr_`$W}ik?c>tRoC=LJs

diff --git a/master/.doctrees/doc/getting_started/getting_started.doctree b/master/.doctrees/doc/getting_started/getting_started.doctree
index 9f4b20fb5c94fe9164fb15cff675a24a96326c66..12fea0149299b3b537c1fa4f1f2a56e901c4e5b5 100644
GIT binary patch
delta 64
zcmex3o%!Q*<_!jnhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+s~x87G_q0ICfX5&!@I

delta 64
zcmex3o%!Q*<_!jnh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aWm87G_q0K453rT_o{

diff --git a/master/.doctrees/doc/gz_ros2_control/doc/index.doctree b/master/.doctrees/doc/gz_ros2_control/doc/index.doctree
index 179bfa09f3acb4a8bf7d6ac07084d340154a88d0..aa38aabe138eac361ac797af22ecd7d534b6f28a 100644
GIT binary patch
delta 123
zcmeygmg&=4rVR#+hS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
f1_s6^iD_o0W+s~x8A~cj*ETtkQFOC(^>t|gJc%U1

delta 123
zcmeygmg&=4rVR#+h9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
f#zqE~Nr@II78aWm8A~cj*ETtkQFOC(^>t|ggq0=f

diff --git a/master/.doctrees/doc/migration/differences_to_ros1.doctree b/master/.doctrees/doc/migration/differences_to_ros1.doctree
index 88fb833cbfcd6ac77c969b188832c38438e60cc5..81708849884bcba958c6b16e56c1e4821447bf4d 100644
GIT binary patch
delta 64
zcmaFW$MmX?X@eG{VRoTeUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
Tfq}6}Vw#z$naSp8M*cPcpCS_<

delta 64
zcmaFW$MmX?X@eG{p-FO4VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
Tv5|pgQldqQg~jG*M*cPcu<{eL

diff --git a/master/.doctrees/doc/migration/migration.doctree b/master/.doctrees/doc/migration/migration.doctree
index d0e5a6b9aa069a7dc97c9222aafaad261253d048..85984676608cbd3e9bcb9c9231aad08b490f342e 100644
GIT binary patch
delta 62
zcmeBD>r&gG!f2RXXqK0gpPHy|Xk=h+ZeW>YWSVMVnPO>Rm}qX1W{_r-n4D^9W@KPs
RY?7E}W@=`#Ih1j$AOJeA5wHLN

delta 62
zcmeBD>r&gG!f0rcTvV8z6Q8Z0W|(MhXlQAXY-E|7l4NONXqjqkn3!r}ZklFjkZ5dV
RV40L?kz!%7Ih1j$AOK8%5<~z1

diff --git a/master/.doctrees/doc/project_ideas.doctree b/master/.doctrees/doc/project_ideas.doctree
index 78227dc2805d7f8cb193f5ad1438962402286435..aab69a39ba8baf901f95793986c57bccf718bd7c 100644
GIT binary patch
delta 64
zcmZ4digEEP#tk}*hS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+t0s8IKhM0ICNQ?*IS*

delta 64
zcmZ4digEEP#tk}*h9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aXh8IKhM0K3-|g8%>k

diff --git a/master/.doctrees/doc/resources/resources.doctree b/master/.doctrees/doc/resources/resources.doctree
index 2c6311c68639a4a9aa2d85a97c0627e0f7128281..f4c8028cf4f448717535545a6bc24036aecb0625 100644
GIT binary patch
delta 68
zcmaDnoAvQ*)(t9*hS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
X1_s6^iD_o0W+u&{jN3yQ8T)(y@j(<w

delta 68
zcmaDnoAvQ*)(t9*h9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
X#zqE~Nr@II78cE+jN3yQ8T)(y1#lGH

diff --git a/master/.doctrees/doc/resources/roscon2023_workshop.doctree b/master/.doctrees/doc/resources/roscon2023_workshop.doctree
index 23c75d4277f91f2a915521a59e8e5da86a695e01..291d9198886ee3ba25f4e6f3370c27bfb3e539eb 100644
GIT binary patch
delta 62
zcmca!cD-za1*2hhp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=1j(SmH>)B6LSCn

delta 62
zcmca!cD-za1*4%!a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=1j(SmH?a&6bAqR

diff --git a/master/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree b/master/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree
index 22a24ff975d95e8568d7e71af706f743ed62122f..288412c00fa823b48a1ba4f0686a27aa2a4024e8 100644
GIT binary patch
delta 64
zcmX?io$=gt#tjyXhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
T1_s6^iD_o0W+t068B?<WxAqgw

delta 64
zcmX?io$=gt#tjyXh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
T#zqE~Nr@II78aW`8B?<W$;K36

diff --git a/master/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control/controller_manager/doc/userdoc.doctree
index 417f49c4ac0baf592516d885f654b6b8ca1c7c86..c7fc2affb5f38df7554f00ff15788f6723327bc2 100644
GIT binary patch
delta 69
zcmZ2Hmuc}_rVVb4M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWR`wBERFJNTu1px3{6!ZW9

delta 69
zcmZ2Hmuc}_rVVb4MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%G`wBERFJNTu1poye6^H-;

diff --git a/master/.doctrees/doc/ros2_control/doc/index.doctree b/master/.doctrees/doc/ros2_control/doc/index.doctree
index 170b1423200b9d2786db79bb4136f93acd2b4db8..1c1ab7d935375f535dacbae021282e63d299f90b 100644
GIT binary patch
delta 62
zcmaE2_{4C79iw4(p;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=6uFdaR6|05_A9n

delta 62
zcmaE2_{4C79iyR1a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=6uFdaR7ot69@nR

diff --git a/master/.doctrees/doc/ros2_control/doc/migration/Foxy.doctree b/master/.doctrees/doc/ros2_control/doc/migration/Foxy.doctree
index 9716a6449ec83a92b81153b37aee7ced199b690f..c258bcf922e5f422b8b1d7af268a47a1b47ec3bc 100644
GIT binary patch
delta 62
zcmX?Ke!hG|JfmTDp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{<_V1URsfFG69oVO

delta 62
zcmX?Ke!hG|JfopWa#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R<_V1URsf)-6PW-2

diff --git a/master/.doctrees/doc/ros2_control/doc/migration/Iron.doctree b/master/.doctrees/doc/ros2_control/doc/migration/Iron.doctree
index d1ac20449eea209de477c2f1e19fc871822322b9..815c124a9a9a671bb8729ae6d28078eab16f1491 100644
GIT binary patch
delta 62
zcmdlKyeW7?B%@(=p;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{<}OAJ4FGO+5>5aB

delta 62
zcmdlKyeW7?B%`58a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R<}OAJ4FG^e65;>=

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/different_update_rates_userdoc.doctree
index 10ee1d6f0fcf517fcd139f9d69e74bc456d1c70b..bfc9050c89746f04aa2e5293c8e228b2047d1947 100644
GIT binary patch
delta 64
zcmcchoblFk#tnXqhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
T1_s6^iD_o0W+t2K8Ka8;%Cr<O

delta 64
zcmcchoblFk#tnXqh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
T#zqE~Nr@II78aZ98Ka8;+=LXv

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.doctree
index 961384b580a6895376891f7c21ed43d9e51ce0c7..f03b021c97abb486b025e1f67323d043b63d3b7d 100644
GIT binary patch
delta 67
zcmez3^u=j|2cuDTp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Xu}NZ@nW>qH{$zhv=goT=x61<n<j54V

delta 67
zcmez3^u=j|2cwZma#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Xfn`#nMT&)m{$zhv=goT=x61<n`Fs^d

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/hardware_interface_types_userdoc.doctree
index 9e6ffa032433463eb9ab1cd0ee59ab820bec98c8..ade58f6ac8ab669ac4ada9fec38b11602a93f74d 100644
GIT binary patch
delta 69
zcmex*kMZk0#tlJ?M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWR7jS!QKEt>&7XUyz7NY<F

delta 69
zcmex*kMZk0#tlJ?MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%G7jS!QKEt>&7XVc67dHR^

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree
index 927833baf5c32243a8f4b495bf312ed1746ec267..c5b1e3a9a14d7718120f302fd9e08492bb14781d 100644
GIT binary patch
delta 64
zcmeC}WbEx^+~B}ym|bX=my@5GsBdUwU~X<;nPg;|YG9dSX<(RWZjok?W|WwmYH4O<
TU|?*Lm}X{bX0o}EQN|enbM6vP

delta 64
zcmeC}WbEx^+~B}yXp&r1n4S}#t)FI?Xl`g|X_0JXnVgbjX<=xYYHXO8YGQ7hW@wOT
TY-C`WlxUG+VX?W8QN|eng}xHw

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree
index 02555bfc846431f7ad6d4278ea56c017f827ef11..a9490108f0b0be016143918b00abe76248c279e4 100644
GIT binary patch
delta 64
zcmZo~WNB|?+2F@$m|bX=my@5GsBdUwU~X<;nPg;|YG9dSX<(RWZjok?W|WwmYH4O<
TU|?*Lm}X{bX0o}Sk>fuAa(xp0

delta 64
zcmZo~WNB|?+2F@$Xp&r1n4S}#t)FI?Xl`g|X_0JXnVgbjX<=xYYHXO8YGQ7hW@wOT
TY-C`WlxUG+VX?WMk>fuAgiRBX

diff --git a/master/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index 231b5f1f5bbdd07998673dc5b140c8bbdc3268a6..4cf5b6bc2b1255821d054edbd393af070748450e 100644
GIT binary patch
delta 64
zcmaF%iSgMd#tn9ihS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+t2S8NZhU0MkYk-T(jq

delta 64
zcmaF%iSgMd#tn9ih9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aZH8NZhU0Ob}HasU7T

diff --git a/master/.doctrees/doc/ros2_control_demos/doc/index.doctree b/master/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 9a20bfe2e07f960bd0ff1fbcb993002b7f71268b..801e1cce5adb3ea127f56daaeeb0cafc7277e1a4 100644
GIT binary patch
delta 69
zcmX@y!F;%bd4n0FQFftOUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
Zfq}6}Vw#z$nTh^n!A%OAI~aE#0s!&w6^;M^

delta 69
zcmX@y!F;%bd4n0Fkx6n<VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
Zv5|pgQldqQg@yiP!A%OAI~aE#0sscH79s!u

diff --git a/master/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree b/master/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree
index bca90a7e4a875a425e36f3ee4caf4e21d70d2846..66aef8c543a037463a4342025748ad996ee47e1b 100644
GIT binary patch
delta 62
zcmeB_>Xh2h&tjNeXqK0gpPHy|Xk=h+ZeW>YWSVMVnPO>Rm}qX1W{_r-n4D^9W@KPs
RY?7E}W@=`#`2dS22LMgv5&ZxF

delta 62
zcmeB_>Xh2h&thnjTvV8z6Q8Z0W|(MhXlQAXY-E|7l4NONXqjqkn3!r}ZklFjkZ5dV
RV40L?kz!%7`2dS22LNBR5|ID^

diff --git a/master/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree
index c5b8217223fdf6d0ef771fbe41db9626fd768624..4c5e52404ba7ab9de3e3fbd2c08b165bd991cb1c 100644
GIT binary patch
delta 76
zcmeBfWbJNb-4MlSlwD|+my@5GsBdUwU~X<;nPg;|YG9dSX<(RWZjok?W|WwmYH4O<
gU|?*Lm}X{bW}-idUwpExfN1j$#_c;8886!b0BCI%Q~&?~

delta 76
zcmeBfWbJNb-4MlSWRhG|n4S}#t)FI?Xl`g|X_0JXnVgbjX<=xYYHXO8YGQ7hW@wOT
gY-C`WlxUG+VWB^XUwpExfN1j$#_c;8886!b0D&zQ=l}o!

diff --git a/master/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree
index bda295aeddd7f87478941f93ee4a81e440c38073..57bcc1409f54a8f1efac58d975cce51e0d287081 100644
GIT binary patch
delta 64
zcmaDhpXu3rrVTNShS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
T1_s6^iD_o0W+t0^86*1uvELK#

delta 64
zcmaDhpXu3rrVTNSh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
T#zqE~Nr@II78aX(86*1u!><&B

diff --git a/master/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_11/doc/userdoc.doctree
index 611b45a9801c9a2bc53cf206c535de493f407d0b..3d3f892a56f5252a9610c62b297dccc28308b13f 100644
GIT binary patch
delta 73
zcmdnm#k94HX+sR7QFftOUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
dfq}6}Vw#z$nTh^nLjm#0zgwg?A7CtP1^`Q97ViK6

delta 73
zcmdnm#k94HX+sR7kx6n<VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
dv5|pgQldqQg@yiPLjm#0zgwg?A7CtP1^{Aa7lQx*

diff --git a/master/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree
index 41bd803db2803d9e36a21f556a7f6a53d3e40d6a..02f9c322390ff9c4ce1c962520bda8255af47e47 100644
GIT binary patch
delta 69
zcmbRHk7@2drVTNSM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWRCvb^xUdmXp7XTv%74-lB

delta 69
zcmbRHk7@2drVTNSMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%GCvb^xUdmXp7XUZA7Ks1=

diff --git a/master/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree
index 11e03dde040c76182995edd237b510c68799fea6..9d07f1235a7513444027c869343469d60f390a19 100644
GIT binary patch
delta 73
zcmeBQ!PLKkX+sR7QFftOUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
dfq}6}Vw#z$nTh^nL4NVcwR~cmcQb}e0suXf6|MjP

delta 73
zcmeBQ!PLKkX+sR7kx6n<VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
dv5|pgQldqQg@yiPL4NVcwR~cmcQb}e0svH)7D503

diff --git a/master/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree
index c983c8bfd03a31305916f3023ed86936d205d284..460cd890706d51192fd89594795ffd3bede83c0f 100644
GIT binary patch
delta 73
zcmdn8mTAjcrVUYyM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWR9i>z!cTVHkyqEF&6aZZ97kU5y

delta 73
zcmdn8mTAjcrVUYyMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%G9i>z!cTVHkyqEF&6aaJa7!Cjc

diff --git a/master/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree
index 360aa3e8c2f71e6161ba517992b3c7a4d3c7fa8e..eac132723cb1204ec38af4efc532248f85835be4 100644
GIT binary patch
delta 73
zcmZ4UmTApfrVUYyM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWR1^L7$Z{-!;yo2$}765ia7i0hc

delta 73
zcmZ4UmTApfrVUYyMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%G1^L7$Z{-!;yo2$}766S#7x(}G

diff --git a/master/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree
index e936addce1215ad52677a0ae086533bdc6c7195e..dca670f3feefbc31abb281881d049faa5a4c0fb4 100644
GIT binary patch
delta 73
zcmbQWoN3l_rVUYyM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWR75K#`_wtEu-of~2A^=3?7H9wf

delta 73
zcmbQWoN3l_rVUYyMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%G75K#`_wtEu-of~2A^=<I7W@DJ

diff --git a/master/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree
index f0593d5e780d47740ef0b4d0dcb43d88c719a4a5..7c299defa659f56290afdbfde4036a76180441ba 100644
GIT binary patch
delta 73
zcmdmSfN948rVUYyM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWRC&s8w=3T(Ec`sx2JOFF17ghiO

delta 73
zcmdmSfN948rVUYyMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%GC&s8w=3T(Ec`sx2JOF~S7wP~2

diff --git a/master/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree
index 3c41c73d3a03fb6a99da611a8a57610f682d2820..e5ff30b69c4b0ce30014bdc138bf40eab681a8a0 100644
GIT binary patch
delta 73
zcmZ49%(T3jX+spFQFftOUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
dfq}6}Vw#z$nTh`7KpyeQ0=%M|cQC%M2LLvh73BZ`

delta 73
zcmZ49%(T3jX+spFkx6n<VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
dv5|pgQldqQg@yj)KpyeQ0=%M|cQC%M2LMf+7I^>w

diff --git a/master/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree
index d2b8c5b9a63399f3edba82b8da04615b2a10f76c..73f2e4f3bec6791e3e12f2a762f330848f0f1ac3 100644
GIT binary patch
delta 73
zcmaETknQzBwhd8?M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWR?>VV9Z)DuQk&)4AJ^+p&7n=Y8

delta 73
zcmaETknQzBwhd8?MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%G?>VV9Z)DuQk&)4AJ^-a87%u<-

diff --git a/master/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree
index ba9eebd5143078df0a6a86532916e7dc1a0d829f..90f7049f2ab1e4796d885768dba060f9f738e7aa 100644
GIT binary patch
delta 73
zcmX^2mGRtH#tl)7M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
d1_s6^iD_o0W+wWR5Aujlo?0cfc`u`2B><Ik7o7kA

delta 73
zcmX^2mGRtH#tl)7MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
d#zqE~Nr@II78d%G5Aujlo?0cfc`u`2B>=2<7%>0<

diff --git a/master/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree
index 0a21f927769cb19b39ee1bc02524b5b4c1b2587f..4ad59737c7a082a26a3795f1ff176e66af6b17be 100644
GIT binary patch
delta 76
zcmezOjq%?%#tl)7rrCvNc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
g1_s6^iD_o0W+wV6`N@+nI*3d@!Y;ab2jj6y0REsE-~a#s

delta 76
zcmezOjq%?%#tl)7rY6Znh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
g#zqE~Nr@II78d#``N@+nI*3d@!Y;ab2jj6y02gl>bN~PV

diff --git a/master/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree
index 711741ac47eaecedc5ab56547725c58612731c90..7123f2238c96bf0c48095d4b19d86f02a5a9f1bc 100644
GIT binary patch
delta 71
zcmeB)>WSJA!)TOUXqK0gpPHy|Xk=h+ZeW>YWSVMVnPO>Rm}qX1W{_r-n4D^9W@KPs
aY?7E}W@=`lKlviR=;Rn-xy=U|y|n=p{S`<6

delta 71
zcmeB)>WSJA!)RoZTvV8z6Q8Z0W|(MhXlQAXY-E|7l4NONXqjqkn3!r}ZklFjkZ5dV
aV40L?kz!$?KlviR=;Rn-xy=U|y|n=>0TtW;

diff --git a/master/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/admittance_controller/doc/userdoc.doctree
index d4f960bb6da5db69cb7a8e89a4e8c284c7c17ef3..aedec2d25e230314199b2645ac9e9673e978f1b5 100644
GIT binary patch
delta 127
zcmZqp#nkYNX@d`=VRoTeUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
jfq}6}Vw#z$naSo_#@#KXYnxols5ALPzS!o~ZJ}lW-r*;3

delta 127
zcmZqp#nkYNX@d`=p-FO4VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
jv5|pgQldqQg~jGt#@#KXYnxols5ALPzS!o~ZJ}lWE1W2p

diff --git a/master/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree
index 5b02d556577cec376b729c102bed336f9f37d9d3..96b7eede120dd6ef7668d9bb0b1761732478914c 100644
GIT binary patch
delta 67
zcmX@;d(d}71fx-Qp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Wu}NZ@nW>qH{$xQx(arN2l~e)GrW0iV

delta 67
zcmX@;d(d}71f!8ja#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Wfn`#nMT&)m{$xQx(arN2l~e)bS`+yI

diff --git a/master/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/diff_drive_controller/doc/userdoc.doctree
index 1e98425913efafa64aa1aa8cad650f0289d1216f..b68198807081f9e60490db27661b7f79f72b3fe7 100644
GIT binary patch
delta 127
zcmdlzk$Lw-<_$iKhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
k1_s6^iD_o0W+t0!8E@?(UEAbZMxDtD8+0~5*mIj30LKw0xBvhE

delta 127
zcmdlzk$Lw-<_$iKh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
k#zqE~Nr@II78aXp8E@?(UEAbZMxDtD8+0~5*mIj3029n8-~a#s

diff --git a/master/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/master/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index 1a9fd937fe7f5640d0b0d1c2479f79781ef5b2dd..cd79681907d7023096b51fc25d3fbb02fca6357f 100644
GIT binary patch
delta 67
zcmX?7d!%-Q2BT4Sp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Wu}NZ@nW>qH{^UX)(argcp|$|vjT8|8

delta 67
zcmX?7d!%-Q2BVQla#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Wfn`#nMT&)m{^UX)(argcp|$|^K@_C`

diff --git a/master/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/master/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 43817eab2db1ed35b4dd9d766cdd9f3310361088..f71ff6111b4783e06e94ca654e3fcc19a06f2899 100644
GIT binary patch
delta 64
zcmdmchk5TE<_!*vhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+s~p8PB`{0Jb_5vH$=8

delta 64
zcmdmchk5TE<_!*vh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aWe8PB`{0LTgzMgRZ+

diff --git a/master/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index 26924ce8854e12746252ad789bb770695e8e7700..51c612e9924bbfc0bfcbf9b501768f2e97e14490 100644
GIT binary patch
delta 62
zcmbQ|FwbFw8>3-%p;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=5og6asXIz5>EgC

delta 62
zcmbQ|FwbFw8>68~a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=5og6asX;V65{{>

diff --git a/master/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 0bc74521d79de380af38de961e1495a423f7543d..a3e848a6bf09da939b885b961cb273f32fabde0a 100644
GIT binary patch
delta 127
zcmcaSf${PL#tjLKhS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
k1_s6^iD_o0W+s~_GPYZju5I!}MzhHY76zNw+b-b(0J85UIsgCw

delta 127
zcmcaSf${PL#tjLKh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
k#zqE~Nr@II78aW)GPYZju5I!}MzhHY76zNw+b-b(0RNjOVgLXD

diff --git a/master/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index 22aaff694a20d6d38972ffad4816b7d614ed7dd1..0acc1325ec7ef321792da14f867e36603410b915 100644
GIT binary patch
delta 67
zcmX?`ayDf{7^6{kp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Xu}NZ@nW>qH{^U+6gUve_ry2kN=Kd7i

delta 67
zcmX?`ayDf{7^9I%a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Xfn`#nMT&)m{^U+6gUve_ry2kN`?3{q

diff --git a/master/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree
index 559871abd7bba5b960d97c02d57676be9b3d9b11..c20ef2fd4e5987b20ece31fcc5de3eb85ffd2d99 100644
GIT binary patch
delta 62
zcmbP~Gbv|-2cuzjp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=1RtyCIDy75}N=3

delta 62
zcmbP~Gbv|-2cw}$a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=1RtyCIES!6E6S&

diff --git a/master/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/imu_sensor_broadcaster/doc/userdoc.doctree
index 8e8844f650d706e0ee908336206ae35f1776e267..4e263a8e413bffce8d8e8cc437a251935c641ec2 100644
GIT binary patch
delta 127
zcmX@#$aubyaf2VDVRoTeUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
jfq}6}Vw#z$naSpQ#x7&hwN0*P)SZ0SNPTmksUtT4lKv&L

delta 127
zcmX@#$aubyaf2VDp-FO4VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
jv5|pgQldqQg~jH2#x7&hwN0*P)SZ0SNPTmksUtT4->N3t

diff --git a/master/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index adafe1448763368cc5c4db528c052eb237ff5f32..7be759ef0f87e9c921d617bd97b15ca9bee1995a 100644
GIT binary patch
delta 64
zcmZoYz}R|#aYF#3VRoTeUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
Tfq}6}Vw#z$naSox#+En$k1i8X

delta 64
zcmZoYz}R|#aYF#3p-FO4VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
Tv5|pgQldqQg~jGZ#+En$p#Br&

diff --git a/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree b/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree
index a13261516167dc53d03e122685c93b6e822414df..2e33ff9cd31ba9d702c035c673f1f6b207ce2ce6 100644
GIT binary patch
delta 69
zcmdmclxgo#rVVP0M%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWR6=oQ2?qoDs2mlEn6-fX9

delta 69
zcmdmclxgo#rVVP0MkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%G6=oQ2?qoDs2ml?_72N;;

diff --git a/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree b/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree
index b078ee3f63e21eb6774a1dddc1069ec8cba2f1d1..f4475d57aae504336b49bc40a2cedc0fdbdb0c3a 100644
GIT binary patch
delta 69
zcmX@Img&e^rVTZWM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWR<6G@Fzh%5W1ppbn7O?;T

delta 69
zcmX@Img&e^rVTZWMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%G<6G@Fzh%5W1pqE_7exR7

diff --git a/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index d56f27d072156ca6b8e435b5004750c4f96c45f8..a230860a4180c56e5b2882e303466b5bf2a6bcf0 100644
GIT binary patch
delta 69
zcmZp@!PI(#X+s2~QFftOUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
Zfq}6}Vw#z$nTh^nM;@Ea#~AHb0RR9T6(Rrt

delta 69
zcmZp@!PI(#X+s2~kx6n<VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
Zv5|pgQldqQg@yiPM;@Ea#~AHb0RR-x6}A8X

diff --git a/master/.doctrees/doc/ros2_controllers/pid_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/pid_controller/doc/userdoc.doctree
index ea19ca8ce45ed6221df7db12b13c6a5b414648ed..79496680c3f8f6537b13ddd62535ea0c7fb9fa25 100644
GIT binary patch
delta 64
zcmX>+f$8uBrVVzChS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+t2S8LzYf0Fzr2!T<mO

delta 64
zcmX>+f$8uBrVVzCh9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aZH8LzYf0HrGwRsaA1

diff --git a/master/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index e15542f25454404c3498f12809873264543fe603..b248dd31558d66a4951a6204c010a5386bba2fcd 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=4!^5asYcq6D0ru

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=4!^5asZ7M6S)8Y

diff --git a/master/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree
index e947cd4683a6af82f0ee486a17088659f6ff8d7b..fa929f6b0304a69210820ece2406523b37eee7f8 100644
GIT binary patch
delta 121
zcmX?8e5QCq5Tjvsp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
du}NZ@nW>q{WIH|m&6^mbbx7B`*-o#I8vyCcBdY)a

delta 121
zcmX?8e5QCq5Tl_<a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
dfn`#nMT&*RWIH|m&6^mbbx7B`*-o#I8vrksB+~!@

diff --git a/master/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree
index e79e0ccff1bd574a6df42338a491bfd7cbae8f25..187efc7c9430e9a5d368d7a75cd61f6a256883a8 100644
GIT binary patch
delta 62
zcmbO)H(zc;0;6Gep;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=824byZ}z?5*Gjf

delta 62
zcmbO)H(zc;0;8cxa#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=824byZ~Uk5~~0J

diff --git a/master/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree
index aba90f41d31dcbf5868ed4344fac8e939cab87b1..3a29ead362ac22718745c022087c3fe8c1b0135e 100644
GIT binary patch
delta 69
zcmeylo$2RxrVUYyM%jgCc{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
Z1_s6^iD_o0W+wWR`-E*bpJX(c1pqG`76SkP

delta 69
zcmeylo$2RxrVUYyMkdKch3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
Z#zqE~Nr@II78d%G`-E*bpJX(c1pq_P7MB13

diff --git a/master/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index 554ae934d4bc79bddec07e788c96fe9c584735a4..b337b2155e9f23765c6bd34fe8e864cc33aa5449 100644
GIT binary patch
delta 64
zcmeD9z}WGDaf1h=VRoTeUQT{$qQ0S#fw{SXWs;F;s)1#SrGa6hxkZ{mno(kMs->Bc
Tfq}6}Vw#z$naSo##{Mz@rTY`f

delta 64
zcmeD9z}WGDaf1h=p-FO4VR}w{wtkvnqPd}=rA4xlWpYZArG=qos<B~Ws)@O2nxR3W
Tv5|pgQldqQg~jGd#{Mz@x62e=

diff --git a/master/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree
index b880648366f20d79d21c0c1f8cfac670c62df9d2..2a2c681669c8a3c9f066aea22aec660dfb0f166f 100644
GIT binary patch
delta 71
zcmaDI_&RVy6r)jgp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
bu}NZ@nW>qH{^Wjs(aAsAH8!7QR8j{3MHLn%

delta 71
zcmaDI_&RVy6r+(za#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
bfn`#nMT&)m{^Wjs(aAsAH8!7QR8j{3Tp1R+

diff --git a/master/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index 59f0ccfe41977df4968d0e7be5ea444157abdabd..885e717ab8929760947bf73ed76392012fbd750d 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Zzp;=x|erlq=p^<^Pxq)Spk!h-dWs0SNVWPQ3nn9XTVsfgbnUR5k
Ru}NZ@nW>q{=4!^5asYcq6D0ru

delta 62
zcmaFj@Wf$*7o(v`a#3M=PJFh0nqi{3p`oQkvXNzSN|L38p=GMEVPdL@xoMiAL87sd
Rfn`#nMT&*R=4!^5asZ7M6S)8Y

diff --git a/master/.doctrees/doc/simulators/simulators.doctree b/master/.doctrees/doc/simulators/simulators.doctree
index 03935630e608b3e6c6221bc1fec48fb568bd50ff..57d0ec4c9d60925971fe3432143754fe88bd4d92 100644
GIT binary patch
delta 62
zcmZoNZ!+JY#%P#bXqK0gpPHy|Xk=h+ZeW>YWSVMVnPO>Rm}qX1W{_r-n4D^9W@KPs
RY?7E}W@=`#Ih;{j3IIMv5k&w1

delta 62
zcmZoNZ!+JY#%O4gTvV8z6Q8Z0W|(MhXlQAXY-E|7l4NONXqjqkn3!r}ZklFjkZ5dV
RV40L?kz!%7Ih;{j3II?R5!nC$

diff --git a/master/.doctrees/doc/supported_robots/supported_robots.doctree b/master/.doctrees/doc/supported_robots/supported_robots.doctree
index 55faa191d6f9d8593bbcfb229fd3982635fc7b03..29673bd182824a311686d4fcdb6b2536657b18c7 100644
GIT binary patch
delta 64
zcmX@QgYoDN#trd|hS`N?c{%y1iTZ{{2Il4lmPtmYsRouQmIj82<`!uNX-0|3sg`C&
U1_s6^iD_o0W+s~_Fm8<k0Ir7=3jhEB

delta 64
zcmX@QgYoDN#trd|h9=2Hh3Pr*+4^aQiROlemKMoImdPnemKKJVsm6whsV3&8X@&-g
U#zqE~Nr@II78aW)Fm8<k0Kiuip8x;=

diff --git a/master/.doctrees/environment.pickle b/master/.doctrees/environment.pickle
index 9d3b167ddb5fa0d97f21cd695b87820d5d3cbdc0..ff84cf5c4c08b4d39565be28fd38146cecacd183 100644
GIT binary patch
delta 51525
zcmeFa2Xs_b*8s|$Ofo4m$;_lpl1Vb@jU>}<2{oa22)#q-3@tRJ2mBOFqy#RoEg;2$
zqF|^OkZwf*v0*`)4F!Q9hy{VS_qh`w8vH-A*8A80-a;35?|sTXWtVf#o_kMLe0i2z
zj{nNPbB!7=j2%60XwlO7=?<q|6zzF~ocvIG-jF=Iqezs7*@roc1`o{>oOZj*T{KMK
z1-ESB`ubPZ+cJZj5!PL@+4*`dM?HtrmSxBPmd@7=Dw;TS$jAvx=jY{48dFUFs;cDL
z?M0%%+ubhSRU|l^PAO01T@Jfbun*322!n+|_91zBuA;$mhlohWzpu4CVnmaFT`M<d
z>3sho;|7l{8Z&g_(tb<R<vGn<@^ei@xgfH=d?qDQ-rqM!?iH0MuZW9~%NHifam`G!
zeO0u4uv4gfEGJ%GZq49w<T)L}<mu^FIka~)j9=uAmm79A%jKzhd2d>{Je%j`di7G}
zH@Y;IZ?`rr$&Z)&<eQdcIOL24Ir5@<#5i1DT@)nm&uuElxa#`(jvPB==oEQ&?=ab7
zNt8WV4dl{7vwS#4FIPnAWkYfpS5H3hwnN?{1jz$ZBIMJ}t@0^%1mx>dZPaB>ggHgF
z1o?!;B2VimAz2t9iSlcyk{lXeUoL2p16NOrCa@2&Wyyi9EMUx&Y;wn#JkAD1*OF}V
zAJ$Opf2iE4z6pmP0rCD)0xMV%n4m|tL9FS<ZR^PwJ3HjB2fAfPv{O#PlE^7s&hHo`
z?~aP)>dS={7TH!eSq@pAE;mSMRdPpXc(2Zk*jj_GI0R>&<aP}n!VepihmWC-A%ZY;
zuq3#7w_~Wg$UexCH^e<uSUO_+{Q7^>w122=s8(GzCic#|qcs0ety(Qqni0GIU(%I-
zr6+P*PlWthQriEZFI-b7_*itnem!rN1D=TZA9P2~wEdR~<Fj=BKd1}lI_2@5Gvvkt
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zt!=1QUH-9KbGcV`sCbX2+_!4AnyRMASN4X<#VLMZ^GDP8ph*yy4_vO4FAp4qw$U^~
zE_pUc{-IZME*2J7h_Uj5*mOB@P=1xK_@Q%^gJ@kPaM{P64TE_pLe78NCJ$H>C?Duz
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delta 78
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           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -1117,6 +1117,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-05-22T09:27:11Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 66.0%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 1.2731229597388465%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -1198,33 +1225,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2023-06-26T17:38:05Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 56.00000000000001%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.9466811751904244%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -2307,7 +2307,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -3989,6 +3989,33 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2013-08-28T10:43:49Z</td>-->
             </tr>
         
+            <tr>
+                <td style=" text-align: center;"></td>
+                <td>
+                  <div style="display: flex; align-items: center;">
+                    <div style="width: 40px;">
+                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
+                    </div>
+                    <div>
+                      <div>
+                        <b>None</b> <br>
+                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
+                      </div>
+                    </div>
+                  </div>
+                </td>
+                <td>33
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 14.798206278026907%;"></div>
+                    </div>
+                <td>117
+                    <div class="progress-bar">
+                        <div class="progress-value-reviews" style="width: 0.5655999226530021%;"></div>
+                    </div>
+                </td>
+                <!--<td>2024-03-11T09:45:03Z</td>-->
+            </tr>
+        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -4205,33 +4232,6 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <!--<td>2020-10-12T22:15:34Z</td>-->
             </tr>
         
-            <tr>
-                <td style=" text-align: center;"></td>
-                <td>
-                  <div style="display: flex; align-items: center;">
-                    <div style="width: 40px;">
-                      <img src="https://avatars.githubusercontent.com/in/15368?v=4" width="36" height="36" alt="github-actions[bot]" style="border-radius: 50%;">
-                    </div>
-                    <div>
-                      <div>
-                        <b>None</b> <br>
-                        <a href="https://github.com/github-actions[bot]" target="_blank"><img src="https://github.githubassets.com/assets/GitHub-Mark-ea2971cee799.png" width="16" height="16" alt="github-actions[bot]">github-actions[bot]</a>
-                      </div>
-                    </div>
-                  </div>
-                </td>
-                <td>28
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 12.556053811659194%;"></div>
-                    </div>
-                <td>87
-                    <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.4205743014599246%;"></div>
-                    </div>
-                </td>
-                <!--<td>2024-03-11T09:45:03Z</td>-->
-            </tr>
-        
             <tr>
                 <td style=" text-align: center;"></td>
                 <td>
@@ -7690,7 +7690,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -7741,18 +7741,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>166</td>
-                <td>151
+                <td>167</td>
+                <td>152
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 90.96385542168674%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.01796407185628%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -7770,15 +7770,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>85</td>
+                <td>86</td>
                 <td>54
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 35.76158940397351%;"></div>
+                        <div class="progress-value-reviews" style="width: 35.526315789473685%;"></div>
                     </div>
                 </td>
-                <td>0.64
+                <td>0.63
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 63.52941176470588%;"></div>
+                        <div class="progress-value-ratio" style="width: 62.7906976744186%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -7802,7 +7802,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>52</td>
                 <td>47
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 31.125827814569533%;"></div>
+                        <div class="progress-value-reviews" style="width: 30.92105263157895%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -7831,7 +7831,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>72</td>
                 <td>30
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.867549668874172%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.736842105263158%;"></div>
                     </div>
                 </td>
                 <td>0.42
@@ -7857,15 +7857,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 19.205298013245034%;"></div>
+                        <div class="progress-value-reviews" style="width: 19.078947368421055%;"></div>
                     </div>
                 </td>
-                <td>0.28
+                <td>0.27
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 27.61904761904762%;"></div>
+                        <div class="progress-value-ratio" style="width: 27.358490566037734%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -7886,15 +7886,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.635761589403973%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.605263157894736%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -7918,7 +7918,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -7947,7 +7947,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.6490066225165565%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.631578947368421%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -7973,15 +7973,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>96</td>
+                <td>98</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.125%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.061224489795918%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -8005,7 +8005,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9867549668874174%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.9736842105263157%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8031,15 +8031,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>105</td>
+                <td>106</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.9047619047619049%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.8867924528301887%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -8060,15 +8060,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>124</td>
+                <td>125</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.6129032258064515%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.6%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -8089,15 +8089,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>107</td>
+                <td>109</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>0.02
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.8691588785046727%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.834862385321101%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -8121,7 +8121,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.3245033112582782%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.3157894736842104%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8147,15 +8147,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>97</td>
+                <td>98</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0204081632653061%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -8176,15 +8176,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>114</td>
+                <td>116</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8771929824561403%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8620689655172413%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -8205,15 +8205,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>112</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.9009009009009009%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -8237,7 +8237,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8266,7 +8266,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8295,7 +8295,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8324,7 +8324,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>73</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -8353,7 +8353,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>58</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -8382,7 +8382,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>35</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -8411,7 +8411,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8440,7 +8440,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8469,7 +8469,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8498,7 +8498,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8527,7 +8527,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8556,7 +8556,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8585,7 +8585,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8614,7 +8614,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8643,7 +8643,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8672,7 +8672,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8701,7 +8701,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>0.50
@@ -8730,7 +8730,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.6622516556291391%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6578947368421052%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -8814,7 +8814,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>111</td>
+                <td>113</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8843,7 +8843,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>103</td>
+                <td>102</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -8988,7 +8988,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>59</td>
+                <td>58</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9017,7 +9017,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>49</td>
+                <td>48</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9075,7 +9075,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>50</td>
+                <td>49</td>
                 <td>0
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 0.0%;"></div>
@@ -9236,7 +9236,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
         
           </tbody>
       </table>
-      Fetched on 2024-04-07 03:25:53 UTC
+      Fetched on 2024-04-08 03:26:49 UTC
     </p>
   
       <script>
@@ -9287,18 +9287,18 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
-                <td>156
+                <td>172</td>
+                <td>157
                     <div class="progress-bar">
                         <div class="progress-value-reviews" style="width: 100.0%;"></div>
                     </div>
                 </td>
                 <td>0.91
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 91.22807017543859%;"></div>
+                        <div class="progress-value-ratio" style="width: 91.27906976744185%;"></div>
                     </div>
                 </td>
-                <!--<td>2024-04-03T06:37:15Z</td>-->
+                <!--<td>2024-04-07T18:07:21Z</td>-->
             </tr>
         
             <tr>
@@ -9319,7 +9319,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>186</td>
                 <td>118
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 75.64102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 75.15923566878982%;"></div>
                     </div>
                 </td>
                 <td>0.63
@@ -9348,7 +9348,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>115</td>
                 <td>104
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 66.66666666666666%;"></div>
+                        <div class="progress-value-reviews" style="width: 66.2420382165605%;"></div>
                     </div>
                 </td>
                 <td>0.90
@@ -9377,7 +9377,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>93</td>
                 <td>60
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 38.46153846153847%;"></div>
+                        <div class="progress-value-reviews" style="width: 38.21656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.65
@@ -9403,15 +9403,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>88</td>
+                <td>89</td>
                 <td>57
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 36.53846153846153%;"></div>
+                        <div class="progress-value-reviews" style="width: 36.30573248407643%;"></div>
                     </div>
                 </td>
-                <td>0.65
+                <td>0.64
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 64.77272727272727%;"></div>
+                        <div class="progress-value-ratio" style="width: 64.04494382022472%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-27T22:09:19Z</td>-->
@@ -9435,7 +9435,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>99</td>
                 <td>53
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.97435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.75796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -9461,15 +9461,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>196</td>
+                <td>198</td>
                 <td>52
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 33.33333333333333%;"></div>
+                        <div class="progress-value-reviews" style="width: 33.12101910828025%;"></div>
                     </div>
                 </td>
-                <td>0.27
+                <td>0.26
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 26.53061224489796%;"></div>
+                        <div class="progress-value-ratio" style="width: 26.262626262626267%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-18T06:12:34Z</td>-->
@@ -9493,7 +9493,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>48</td>
                 <td>46
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 29.48717948717949%;"></div>
+                        <div class="progress-value-reviews" style="width: 29.29936305732484%;"></div>
                     </div>
                 </td>
                 <td>0.96
@@ -9522,7 +9522,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>78</td>
                 <td>34
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 21.794871794871796%;"></div>
+                        <div class="progress-value-reviews" style="width: 21.656050955414013%;"></div>
                     </div>
                 </td>
                 <td>0.44
@@ -9548,15 +9548,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>171</td>
+                <td>173</td>
                 <td>29
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 18.58974358974359%;"></div>
+                        <div class="progress-value-reviews" style="width: 18.471337579617835%;"></div>
                     </div>
                 </td>
                 <td>0.17
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 16.95906432748538%;"></div>
+                        <div class="progress-value-ratio" style="width: 16.76300578034682%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-12-19T20:32:07Z</td>-->
@@ -9580,7 +9580,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>29</td>
                 <td>23
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.743589743589745%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.64968152866242%;"></div>
                     </div>
                 </td>
                 <td>0.79
@@ -9606,15 +9606,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>219</td>
+                <td>220</td>
                 <td>22
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 14.102564102564102%;"></div>
+                        <div class="progress-value-reviews" style="width: 14.012738853503185%;"></div>
                     </div>
                 </td>
                 <td>0.10
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 10.045662100456621%;"></div>
+                        <div class="progress-value-ratio" style="width: 10.0%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-01T20:48:32Z</td>-->
@@ -9638,7 +9638,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>199</td>
                 <td>21
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 13.461538461538462%;"></div>
+                        <div class="progress-value-reviews" style="width: 13.375796178343949%;"></div>
                     </div>
                 </td>
                 <td>0.11
@@ -9664,15 +9664,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>210</td>
+                <td>212</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.095238095238095%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.018867924528301%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-05-22T06:45:28Z</td>-->
@@ -9696,7 +9696,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>17</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9725,7 +9725,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>18</td>
                 <td>17
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.897435897435898%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.828025477707007%;"></div>
                     </div>
                 </td>
                 <td>0.94
@@ -9751,15 +9751,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>191</td>
                 <td>16
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 10.256410256410255%;"></div>
+                        <div class="progress-value-reviews" style="width: 10.191082802547772%;"></div>
                     </div>
                 </td>
                 <td>0.08
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 8.421052631578947%;"></div>
+                        <div class="progress-value-ratio" style="width: 8.37696335078534%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-10-25T06:54:15Z</td>-->
@@ -9780,15 +9780,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>181</td>
+                <td>183</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.07
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.629834254143646%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.557377049180328%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-22T09:26:18Z</td>-->
@@ -9809,15 +9809,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>190</td>
+                <td>192</td>
                 <td>12
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 7.6923076923076925%;"></div>
+                        <div class="progress-value-reviews" style="width: 7.643312101910828%;"></div>
                     </div>
                 </td>
                 <td>0.06
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 6.315789473684211%;"></div>
+                        <div class="progress-value-ratio" style="width: 6.25%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-03-07T07:41:18Z</td>-->
@@ -9841,7 +9841,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.25
@@ -9870,7 +9870,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>9
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.769230769230769%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.7324840764331215%;"></div>
                     </div>
                 </td>
                 <td>0.69
@@ -9896,15 +9896,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>163</td>
+                <td>164</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>0.05
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 4.9079754601226995%;"></div>
+                        <div class="progress-value-ratio" style="width: 4.878048780487805%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-01-25T18:27:19Z</td>-->
@@ -9928,7 +9928,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9957,7 +9957,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>8</td>
                 <td>8
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 5.128205128205128%;"></div>
+                        <div class="progress-value-reviews" style="width: 5.095541401273886%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -9983,15 +9983,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>54</td>
+                <td>55</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.13
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 12.962962962962962%;"></div>
+                        <div class="progress-value-ratio" style="width: 12.727272727272727%;"></div>
                     </div>
                 </td>
                 <!--<td>2024-02-01T22:17:51Z</td>-->
@@ -10015,7 +10015,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>135</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10044,7 +10044,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>131</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10073,7 +10073,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10102,7 +10102,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10131,7 +10131,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>13</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>0.54
@@ -10160,7 +10160,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>7
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 4.487179487179487%;"></div>
+                        <div class="progress-value-reviews" style="width: 4.45859872611465%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10186,15 +10186,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>187</td>
+                <td>188</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.03
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 3.2085561497326207%;"></div>
+                        <div class="progress-value-ratio" style="width: 3.1914893617021276%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-02-28T09:38:36Z</td>-->
@@ -10218,7 +10218,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>126</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>0.05
@@ -10247,7 +10247,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>6</td>
                 <td>6
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.8461538461538463%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.821656050955414%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10276,7 +10276,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>5</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10305,7 +10305,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>132</td>
                 <td>5
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 3.205128205128205%;"></div>
+                        <div class="progress-value-reviews" style="width: 3.1847133757961785%;"></div>
                     </div>
                 </td>
                 <td>0.04
@@ -10334,7 +10334,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>147</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10363,7 +10363,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10392,7 +10392,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10421,7 +10421,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10450,7 +10450,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>7</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>0.57
@@ -10479,7 +10479,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10508,7 +10508,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>4
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 2.564102564102564%;"></div>
+                        <div class="progress-value-reviews" style="width: 2.547770700636943%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10537,7 +10537,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>149</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10566,7 +10566,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>125</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -10595,7 +10595,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10624,7 +10624,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>94</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -10653,7 +10653,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10682,7 +10682,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10711,7 +10711,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10740,7 +10740,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10769,7 +10769,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>3</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10798,7 +10798,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>4</td>
                 <td>3
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.9230769230769231%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.910828025477707%;"></div>
                     </div>
                 </td>
                 <td>0.75
@@ -10824,15 +10824,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>192</td>
+                <td>194</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 1.0416666666666665%;"></div>
+                        <div class="progress-value-ratio" style="width: 1.0309278350515463%;"></div>
                     </div>
                 </td>
                 <!--<td>2022-03-23T22:13:23Z</td>-->
@@ -10856,7 +10856,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>134</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -10885,7 +10885,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10914,7 +10914,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10943,7 +10943,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -10972,7 +10972,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11001,7 +11001,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11030,7 +11030,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>2</td>
                 <td>2
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 1.282051282051282%;"></div>
+                        <div class="progress-value-reviews" style="width: 1.2738853503184715%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11056,15 +11056,15 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                     </div>
                   </div>
                 </td>
-                <td>112</td>
+                <td>113</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
                     <div class="progress-bar">
-                        <div class="progress-value-ratio" style="width: 0.8928571428571428%;"></div>
+                        <div class="progress-value-ratio" style="width: 0.8849557522123894%;"></div>
                     </div>
                 </td>
                 <!--<td>2023-06-13T11:43:58Z</td>-->
@@ -11088,7 +11088,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11117,7 +11117,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11146,7 +11146,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11175,7 +11175,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>87</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.01
@@ -11204,7 +11204,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>47</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.02
@@ -11233,7 +11233,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>36</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.03
@@ -11262,7 +11262,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11291,7 +11291,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11320,7 +11320,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11349,7 +11349,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11378,7 +11378,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11407,7 +11407,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11436,7 +11436,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11465,7 +11465,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>16</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>0.06
@@ -11494,7 +11494,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11523,7 +11523,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11552,7 +11552,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11581,7 +11581,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11610,7 +11610,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11639,7 +11639,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11668,7 +11668,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11697,7 +11697,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
                 <td>1</td>
                 <td>1
                     <div class="progress-bar">
-                        <div class="progress-value-reviews" style="width: 0.641025641025641%;"></div>
+                        <div class="progress-value-reviews" style="width: 0.6369426751592357%;"></div>
                     </div>
                 </td>
                 <td>1.00
@@ -11726,7 +11726,7 @@ <h2>Contributors<a class="headerlink" href="#contributors" title="Link to this h
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index f4d5df2ca58..cbeb802d460 100644
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Cascade Control", "Controller Manager", "ros2_control", "Foxy to Galactic", "Iron to Jazzy", "Different update rates for Hardware Components", "Hardware Components", "<code class=\"docutils literal notranslate\"><span class=\"pre\">ros2_control</span></code> hardware interface types", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "&lt;no title&gt;", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 14: Modular robot with actuators not providing states", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", 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"stabl": 1, "against": 1, "accept": [1, 19, 29, 41, 42, 48, 49, 50, 52, 58], "api": [1, 2, 4, 7, 19, 23, 25, 27, 28, 29, 30, 31, 32, 34], "abi": 1, "e": [1, 2, 3, 4, 5, 7, 8, 10, 11, 14, 17, 18, 19, 21, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 37, 39, 41, 42, 43, 47, 48, 49, 51, 52, 55, 56, 58, 61], "name": [1, 2, 3, 4, 5, 8, 11, 14, 15, 17, 18, 19, 20, 21, 23, 24, 26, 27, 28, 30, 31, 32, 33, 35, 37, 39, 41, 43, 44, 46, 47, 48, 51, 53, 55, 56], "convent": [1, 33], "master": [1, 3, 21, 33], "semi": 1, "binari": 1, "good": [1, 2, 4, 7, 39, 56], "same": [1, 9, 10, 11, 15, 29, 33, 40, 43, 48, 49, 50, 51], "build": [1, 9, 19, 33, 37, 41], "dai": 1, "ros_distro": [1, 3, 21, 23], "foxi": [1, 6, 8, 19], "galact": [1, 6, 19], "releas": [1, 3, 8, 21, 33], "version": [1, 3, 7, 9, 15, 21, 50], "non": [1, 8, 26, 33, 43], "brake": 1, "distribut": [1, 3, 21, 61], "three": [1, 3, 5, 13, 16, 17, 21, 33, 41, 49, 57], "stage": [1, 10, 26], "current": [1, 7, 15, 16, 17, 19, 20, 49, 50, 55], "futur": [1, 8, 10, 49, 50], "compat": [1, 3, 5, 8, 19, 21], "direct": [1, 5, 7, 19, 33, 41, 48], "local": [1, 2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 47], "possibl": [1, 3, 7, 11, 17, 18, 21, 23, 25, 27, 28, 29, 30, 31, 32, 34, 37, 41, 49], "core": [1, 12, 33], "immedi": [1, 11, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 51], "depend": [1, 3, 9, 13, 17, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 49, 51, 55], "fail": [1, 29, 33], "expect": [1, 7, 8, 9, 26, 33, 36, 38, 39, 50, 55, 56, 57], "after": [1, 10, 11, 18, 19, 21, 23, 33, 39, 41, 48, 49, 50, 55, 56], "next": [1, 23, 33, 49], "sync": 1, "abl": 1, "potenti": [1, 8, 9, 41, 48], "mid": 1, "power": [1, 2, 4, 8, 19], "plausibl": 1, "analyt": 1, "integr": [2, 3, 4, 7, 8, 18, 21, 26, 28, 33, 48, 49, 50, 51, 56, 61], "architectur": [2, 4, 7, 8, 9], "gazebo": [2, 4, 7, 18, 21, 23, 35, 59], "classic": [2, 18, 21, 59], "which": [2, 3, 4, 5, 7, 8, 9, 11, 15, 18, 19, 20, 21, 23, 25, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 41, 43, 46, 47, 48, 49, 50, 53, 55, 56], "instanti": [2, 4, 11], "manag": [2, 4, 5, 7, 8, 12, 13, 14, 16, 17, 19, 20, 21, 33, 41, 50, 61], "connect": [2, 3, 4, 18, 21, 30, 33], "model": [2, 4, 23, 25, 33], "cd": [2, 3, 4, 9, 21, 33], "docker": [2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34], "allow": [2, 3, 4, 5, 11, 21, 33, 45, 48, 49, 50, 54], "without": [2, 3, 4, 5, 8, 11, 18, 19, 21, 26, 41, 48, 49], "gui": [2, 4, 21, 23, 26, 27, 29, 30, 31, 32, 34, 35, 54], "configur": [2, 3, 4, 5, 7, 8, 10, 11, 13, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 49, 50, 55], "properli": [2, 4, 10, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "command": [2, 3, 4, 5, 7, 8, 9, 11, 12, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 44, 45, 48, 49, 52, 54, 57, 58, 61], "rm": [2, 3, 4, 21, 23], "net": [2, 4, 8, 21, 23], "host": [2, 4, 21, 23, 60], "ros2": [2, 3, 4, 8, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "launch": [2, 3, 4, 11, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "cart_example_posit": [2, 4], "py": [2, 4, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "fals": [2, 4, 15, 18, 21, 23, 25, 37, 39, 45, 47, 48, 50, 51, 55, 56], "machin": [2, 3, 4, 7, 21], "client": [2, 4, 50], "gzclient": 2, "rocker": [2, 4], "go": [2, 4, 8, 11, 19, 33, 41], "tool": [2, 4, 5, 7, 8, 9, 33, 37], "imag": [2, 4, 11], "inject": [2, 4, 8, 9], "nvidia": [2, 4], "And": 2, "user": [2, 4, 7, 11, 21, 33, 49], "id": [2, 4, 20, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 37, 39], "specif": [2, 4, 7, 10, 11, 13, 14, 15, 17, 33, 35, 44, 47, 49, 50], "file": [2, 3, 4, 5, 7, 8, 11, 15, 18, 19, 21, 37, 39, 41, 42, 43, 50, 52, 58], "cleaner": [2, 4], "mount": [2, 4], "permiss": [2, 4, 11], "instal": [2, 4, 9, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "instruct": [2, 4, 9, 28, 33, 35], "x11": [2, 4], "latest": [2, 3, 4, 9], "move": [2, 4, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 45, 56], "cart": [2, 4], "rail": [2, 4], "exec": [2, 4, 23], "bash": [2, 3, 4, 9, 19, 21, 23, 33, 41], "home": [2, 4], "ros2_w": [2, 3, 4, 21], "example_posit": [2, 4], "need": [2, 3, 4, 5, 7, 8, 10, 17, 19, 21, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 41, 49, 51], "addit": [2, 4, 5, 10, 21, 24, 28, 33], "element": [2, 4, 33, 37, 48], "includ": [2, 4, 5, 7, 9, 11, 13, 19, 20, 25, 33, 37, 41, 50, 56, 60], "access": [2, 3, 4, 8, 11, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47], "interfac": [2, 4, 7, 8, 10, 11, 12, 13, 16, 19, 21, 23, 25, 26, 27, 28, 30, 31, 32, 35, 36, 38, 40, 41, 43, 46, 48, 49, 53, 57, 59, 60, 61], "state": [2, 3, 4, 5, 7, 8, 10, 11, 13, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 43, 47, 48], "gazebosystem": [2, 14], "system": [2, 3, 4, 5, 7, 8, 9, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 48, 50, 59, 60, 61], "hardwar": [2, 4, 8, 9, 10, 12, 13, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 41, 48, 51, 56, 61], "slider_to_cart": [2, 4, 42, 52, 58], "command_interfac": [2, 3, 4, 14, 17, 24, 26, 33, 37, 48, 50, 51], "effort": [2, 4, 5, 14, 21, 33, 40, 42, 45, 47, 48, 50, 51], "param": [2, 3, 4, 11, 14, 15, 17, 18, 24, 28, 33], "min": [2, 3, 4, 17, 33], "1000": [2, 4, 14, 33], "state_interfac": [2, 3, 4, 14, 17, 18, 24, 33, 37, 48, 50], "posit": [2, 3, 4, 5, 8, 11, 14, 17, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 42, 47, 48, 49, 50, 51, 52, 55, 58], "initial_valu": [2, 4, 14, 17, 18, 24, 33], "veloc": [2, 3, 4, 5, 8, 10, 14, 21, 25, 27, 28, 29, 33, 37, 38, 39, 40, 45, 46, 47, 48, 49, 50, 51, 52, 55, 58], "defin": [2, 4, 5, 7, 11, 14, 17, 19, 21, 33, 37, 41, 43, 46, 47, 48, 49, 50, 51, 53, 55], "paramet": [2, 4, 5, 8, 9, 14, 15, 19, 21, 23, 24, 28, 33, 41, 50], "mimick": [2, 4], "detail": [2, 3, 4, 5, 11, 16, 17, 18, 19, 26, 33, 35, 36, 38, 39, 41, 49, 50, 57], "manual": [2, 3, 4, 7, 11, 19, 21, 23, 29, 30, 31, 32, 34, 35, 41, 61], "multipli": [2, 4, 14], "definit": [2, 3, 4, 11, 14, 19, 33, 37, 39, 40, 41, 43, 45, 46, 47, 48, 53], "left_finger_joint": [2, 4, 14], "prismat": [2, 4, 14], "right_finger_joint": [2, 4, 14], "axi": [2, 4, 7, 14, 33, 36, 38, 39, 43, 57], "xyz": [2, 4, 14, 33], "rpy": [2, 4, 14, 33], "1415926535": [2, 4, 14], "parent": [2, 4, 14, 19, 33, 39, 41, 56], "link": [2, 3, 4, 8, 10, 13, 14, 33, 37, 40], "base": [2, 3, 4, 8, 13, 14, 19, 20, 21, 25, 27, 28, 32, 33, 37, 39, 41, 44, 55, 56, 59, 60], "child": [2, 4, 14, 17, 33, 39, 56], "finger_left": [2, 4, 14], "lower": [2, 4, 14, 33, 51], "upper": [2, 4, 14, 33, 51], "In": [2, 3, 4, 5, 7, 8, 10, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 41, 47, 49, 55], "actual": [2, 4, 10, 39, 56], "pars": [2, 4, 5, 12, 17, 18], "load": [2, 3, 4, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 40, 41], "appropri": [2, 4, 7, 49], "By": [2, 4, 11, 25, 33, 47, 49], "though": [2, 4, 11, 25, 26], "extens": [2, 4], "via": [2, 3, 4, 21, 23, 30, 31, 33, 50, 60], "creat": [2, 3, 4, 5, 8, 11, 18, 19, 21, 25, 33, 41], "between": [2, 3, 4, 7, 13, 17, 21, 33, 36, 38, 39, 47, 48, 49, 50, 51, 56, 57], "filenam": [2, 4, 33], "libgazebo_ros2_control": 2, "so": [2, 3, 4, 10, 11, 19, 33, 37, 41, 50], "robot_param": [2, 4], "robot_descript": [2, 4, 11, 23, 33], "robot_param_nod": [2, 4], "robot_state_publish": [2, 4, 11, 25, 47], "config": [2, 4, 21], "cart_control": [2, 4], "yaml": [2, 3, 4, 7, 9, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 50], "controller_manager_nam": 2, "simulation_controller_manag": 2, "option": [2, 4, 5, 11, 16, 17, 18, 19, 20, 23, 24, 29, 37, 39, 40, 41, 43, 47, 50, 51, 55], "server": [2, 45, 50], "node": [2, 3, 4, 11, 15, 16, 18, 20, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 56], "hold_joint": [2, 4], "true": [2, 4, 15, 24, 25, 28, 35, 37, 39, 48, 49, 50, 51, 55, 56], "hold": [2, 4, 49], "wa": [2, 4, 7, 9, 19, 23, 24, 28, 29, 33, 41, 49], "claim": [2, 4, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37], "hasn": [2, 4], "been": [2, 4, 26], "yet": [2, 4, 6, 10, 11, 21, 26, 39, 49, 50], "controller_manag": [2, 3, 4, 7, 11, 20, 29, 40, 41, 42, 50, 52, 58], "attempt": [2, 4, 11, 50], "get": [2, 4, 8, 9, 10, 11, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 51, 61], "out": [2, 4, 5, 11, 33, 39], "most": [2, 4, 7, 19, 21, 25, 33, 41], "case": [2, 4, 5, 7, 8, 10, 21, 26, 33, 41, 47, 49, 50, 61], "least": [2, 4, 17, 19, 41, 50], "start": [2, 4, 5, 8, 10, 11, 13, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 41, 48, 49, 56, 61], "hardware_interfac": [2, 3, 4, 5, 15, 16, 18, 19, 21, 27, 30, 31, 32, 33, 37, 39, 40, 41], "jointstateinterfac": [2, 4], "effortjointinterfac": [2, 4], "velocityjointinterfac": [2, 4], "pluginlib": [2, 3, 4, 5, 11, 19, 33, 41, 51], "implement": [2, 3, 4, 5, 7, 8, 11, 15, 17, 18, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 39, 41, 44, 49, 50, 51, 55, 56, 57, 61], "complex": [2, 3, 4, 7, 8, 9, 10], "mechan": [2, 4, 10, 50], "nonlinear": [2, 4], "spring": [2, 4], "linkag": [2, 4, 23, 26, 34], "etc": [2, 4, 11, 29, 33, 37, 61], "These": [2, 4, 21, 33, 39, 45, 56], "inherit": [2, 4, 11, 33], "gazebosysteminterfac": 2, "systeminterfac": [2, 4, 5, 15, 18, 30, 33], "level": [2, 4, 7, 8, 11, 26, 27, 32, 42, 49, 52, 58], "properti": [2, 4, 33], "sub": [2, 4, 25], "class": [2, 3, 4, 8, 11, 13, 16, 19, 20, 33, 41, 44, 49], "specifi": [2, 4, 11, 19, 21, 33, 37, 40, 41, 48, 49, 50, 51], "For": [2, 3, 4, 7, 8, 10, 11, 16, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 48, 50, 51, 55, 57], "exampl": [2, 3, 4, 5, 7, 8, 10, 11, 18, 20, 25, 28, 37, 39, 42, 43, 50, 51, 52, 56, 58, 61], "xml": [2, 4, 5, 11, 13, 15, 19, 33, 41], "insid": [2, 4, 18, 21, 23], "basic": [2, 3, 4, 5, 7, 8, 19, 21, 28, 41], "joint_state_broadcast": [2, 4, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "publish": [2, 4, 7, 10, 17, 21, 24, 25, 33, 37, 40, 43, 46, 47, 49, 53, 56, 61], "resourc": [2, 4, 5, 19, 29], "regist": [2, 4, 5], "stateinterfac": [2, 4, 33], "topic": [2, 4, 7, 8, 10, 11, 17, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 50, 51, 56, 59], "sensor_msg": [2, 4, 46, 53], "msg": [2, 4, 11, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 42, 43, 44, 46, 49, 50, 51, 52, 53, 55, 58], "jointstat": [2, 4], "joint_trajectory_control": [2, 4, 7, 20, 23, 40, 48, 54], "call": [2, 3, 4, 5, 10, 15, 19, 24, 28, 33, 41], "follow_joint_trajectori": [2, 4, 50], "control_msg": [2, 4, 37, 48, 50, 51, 55, 61], "followjointtrajectori": [2, 4, 48, 50], "ros__paramet": [2, 4, 37, 39, 42, 43, 45, 46, 47, 48, 50, 52, 53, 58], "update_r": [2, 4, 11, 40, 42, 52, 58], "100": [2, 3, 15, 17, 42, 52, 58], "hz": [2, 4, 39, 42, 45, 52, 58], "jointtrajectorycontrol": [2, 4, 5, 20, 23, 37, 50], "jointstatebroadcast": [2, 4, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "contain": [2, 9, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 39, 42, 43, 45, 46, 47, 48, 49, 51, 52, 53, 55, 58], "content": [2, 19, 33, 41], "There": [2, 3, 4, 6, 11, 16, 19, 21, 25, 27, 30, 31, 32, 41, 49, 50], "meter": [2, 4, 33], "cart_example_veloc": [2, 4], "cart_example_effort": [2, 4], "diff_driv": 2, "tricycle_dr": 2, "world": [2, 4, 11, 18, 25, 33, 37], "example_veloc": [2, 4], "example_effort": [2, 4], "example_diff_dr": [2, 4], "example_tricycle_dr": [2, 4], "parallel": [2, 3, 4, 17], "gripper": [2, 3, 4, 5, 8, 17, 40], "gripper_mimic_joint_exampl": [2, 4], "send": [2, 4, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 50, 51], "example_gripp": [2, 4], "roll": [3, 9, 21, 33, 39, 56], "both": [3, 7, 8, 11, 26, 33, 34, 39, 47, 48, 49, 50], "humbl": 3, "iron": [3, 6], "about": [3, 7, 18, 19, 29, 39, 46, 47, 50, 61], "page": [3, 8, 59, 60], "want": [3, 9, 10, 11, 21], "download": [3, 21], "repositori": [3, 7, 12, 17, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 40], "mkdir": [3, 9, 21], "p": [3, 9, 11, 21, 48, 51], "src": [3, 9, 19, 21, 23, 33, 37, 39, 41, 43, 45, 46, 47, 48, 53], "wget": 3, "raw": 3, "githubusercont": 3, "com": [3, 7, 9, 21, 33], "ros2_control_ci": 3, "ros_control": [3, 7, 8, 61], "vc": [3, 9, 21], "import": [3, 9, 19, 21, 33, 41, 48], "rosdep": [3, 21], "updat": [3, 5, 10, 11, 12, 16, 21, 25, 33, 37, 40, 41, 50, 55], "rosdistro": [3, 21], "sudo": [3, 9, 11, 21], "apt": [3, 9, 11, 21], "path": [3, 8, 21, 33, 50], "ignor": [3, 11, 21, 39, 48, 55, 56], "r": [3, 21, 34], "y": [3, 21, 25, 28, 30, 31, 37, 43, 46], "everyth": [3, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41], "opt": [3, 9, 21, 23], "setup": [3, 9, 18, 19, 21, 23, 28, 33, 41, 49, 51], "sh": [3, 21, 23], "colcon": [3, 9, 19, 21, 33, 41], "symlink": [3, 9, 21, 33], "forget": [3, 5, 21, 50], "folder": [3, 8, 19, 21, 23, 24, 25, 28, 36, 37, 38, 39, 41, 43, 45, 46, 47, 48, 53, 55, 57], "found": [3, 11, 12, 19, 23, 24, 25, 28, 37, 39, 41, 43, 44, 46, 50, 53, 61], "figur": [3, 49], "uml": 3, "diagram": [3, 20], "describ": [3, 5, 10, 17, 21, 23, 29, 33, 39, 49], "intern": [3, 7, 10, 15, 17, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 49, 50], "cm": [3, 11], "abstract": [3, 8, 16, 33], "side": [3, 7, 8, 39], "entri": [3, 41], "point": [3, 33, 37, 41, 48, 49, 50, 51, 61], "servic": [3, 7, 11, 16, 33, 40], "executor": [3, 11], "custom": [3, 11, 17, 18, 21, 24, 27, 28, 43, 47, 48, 59], "howev": [3, 7, 10, 11, 21, 26, 33], "usual": [3, 5, 18, 19, 33, 37, 41], "recommend": [3, 8, 9, 19, 51], "default": [3, 5, 10, 11, 18, 25, 29, 36, 37, 38, 39, 41, 43, 44, 45, 46, 47, 48, 49, 50, 51, 53, 55, 56, 57], "ros2_control_nod": [3, 11, 29, 33], "assum": [3, 10, 37], "On": [3, 8, 9, 33], "hand": [3, 33, 60], "deactiv": [3, 5, 20, 23, 48], "unload": [3, 11, 20], "match": [3, 21, 49], "enabl": [3, 5, 7, 8, 13, 19, 20, 21, 28, 37, 39, 43, 51, 55], "report": [3, 7, 47, 61], "error": [3, 7, 11, 13, 15, 19, 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36, 37, 38, 39, 41, 43, 46, 53, 55, 57], "If": [1, 3, 5, 8, 9, 10, 11, 13, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 41, 43, 47, 48, 49, 50, 51, 55, 56, 61], "function": [1, 5, 7, 8, 9, 26, 33, 37, 51, 55], "alwai": [1, 33], "exercis": 1, "serv": [1, 3, 7], "live": [1, 8], "origin": [1, 2, 4, 8, 14, 23, 33, 49, 50], "intent": [1, 10, 18], "section": [1, 5, 15, 17, 19, 41, 50], "target": [1, 11, 19, 37, 41, 44, 48, 50], "also": [1, 2, 3, 4, 5, 7, 8, 10, 11, 18, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 41, 50, 51], "read": [1, 2, 3, 4, 5, 11, 15, 17, 19, 21, 26, 27, 30, 31, 33, 37, 41, 47, 48, 51, 53, 55], "understand": [1, 7, 49], "how": [1, 7, 8, 17, 19, 21, 24, 25, 26, 27, 29, 30, 31, 32, 33, 35, 41, 56], "handl": [1, 3, 5, 7, 8, 19, 30, 33, 36, 37, 38, 39, 43, 44, 45, 46, 47, 48, 50, 51, 53, 55, 56, 57], "organ": [1, 8, 61], "guidelin": 1, "especi": [1, 5, 21, 55], "applic": [1, 3, 8, 9, 11, 17, 33], "ros2_control_demo": [1, 3, 21, 23, 33, 61], "pleas": [1, 11, 32, 39, 61], "keep": [1, 33, 41], "mind": [1, 41], "work": [1, 7, 8, 10, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41, 42, 47, 52, 56, 58, 61], "fork": 1, "when": [1, 2, 3, 4, 5, 8, 9, 10, 11, 18, 19, 20, 26, 29, 33, 37, 39, 40, 41, 45, 48, 50, 51, 55, 56], "That": [1, 19, 41], "wai": [1, 11, 15, 19, 33, 41, 43, 50], "main": [1, 3, 7, 8, 11, 15, 18, 33, 41, 55, 61], "repo": [1, 3, 9, 21], "clean": 1, "featur": [1, 8, 18, 21, 23, 34, 55, 61], "branch": [1, 3, 21], "check": [1, 3, 5, 7, 10, 16, 18, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 49, 50, 53, 57, 61], "satisfi": 1, "befor": [1, 5, 10, 11, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 39, 40, 41, 48, 49], "thei": [1, 3, 5, 7, 8, 10, 17, 18, 19, 20, 26, 40, 41, 48, 50, 55], "can": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 18, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 41, 43, 44, 46, 49, 50, 51, 53, 55, 61], "must": [1, 2, 4, 10, 11, 17, 21, 33, 37, 46, 48, 50], "approv": 1, "two": [1, 3, 7, 10, 11, 19, 21, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 43, 49, 50, 51, 55, 56, 57], "explicitli": 1, "onli": [1, 3, 5, 7, 8, 10, 11, 16, 19, 20, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 38, 39, 41, 42, 43, 47, 48, 49, 50, 51, 52, 55, 58], "except": [1, 24, 33], "other": [1, 2, 3, 5, 8, 10, 19, 21, 27, 32, 33, 36, 38, 41, 47, 49, 55, 57], "where": [1, 2, 7, 9, 10, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 39, 41, 47, 48, 49, 50, 51, 55, 57], "back": 1, "traceabl": 1, "discuss": [1, 8, 9, 26, 35, 49, 61], "suffici": [1, 2, 4, 10, 43], "note": [1, 3, 6, 11, 18, 23, 50, 51, 61], "still": [1, 5, 23, 26, 27, 28, 29, 30, 31, 32, 34, 40, 49], "encourag": 1, "help": [1, 11, 15, 18, 19, 20, 39, 41], "u": [1, 2, 4, 11, 21, 48], "increas": [1, 28, 51], "pace": 1, "veri": [1, 2, 4, 5, 7, 17], "like": [1, 2, 3, 4, 5, 7, 8, 9, 19, 25, 26, 33], "find": [1, 2, 3, 4, 15, 28], "issu": [1, 7, 8, 9, 61], "nobodi": 1, "els": 1, "squash": 1, "messag": [1, 7, 11, 20, 29, 30, 31, 33, 39, 43, 46, 47, 48, 49, 50, 53, 55, 56, 61], "comment": [1, 33], "fixup": 1, "linter": 1, "us": [1, 3, 5, 7, 8, 9, 13, 14, 15, 17, 18, 20, 22, 33, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46, 47, 48, 49, 52, 53, 55, 56, 57, 58, 61], "pre": 1, "correct": [1, 5, 39, 49], "header": [1, 13, 19, 30, 31, 41, 49], "address": [1, 33], "similar": [1, 3, 8, 17, 23, 25, 26, 33], "mean": [1, 5, 10, 17, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 49, 50, 56], "result": [1, 3, 10, 11, 23, 33, 47, 49], "exactli": 1, "cowboi": 1, "style": [1, 19, 41], "over": [1, 7, 10, 28, 33], "weekend": 1, "It": [1, 2, 3, 5, 7, 10, 11, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 43, 47, 48, 49, 51], "doesn": [1, 10, 51], "matter": 1, "trivial": [1, 18], "chanc": 1, "proper": [1, 10, 11, 50], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 48, 51], "its": [1, 2, 3, 4, 5, 7, 8, 10, 11, 17, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 43, 44, 45, 46, 47, 48, 49, 51, 53, 55, 56, 57], "ping": 1, "them": [1, 7, 10, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 41, 47, 49, 60], "necessari": [1, 10, 13], "repeatedli": 1, "sphinx": 1, "doc": [1, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 61], "theme": 1, "gener": [1, 7, 8, 17, 19, 20, 25, 27, 28, 29, 30, 31, 32, 33, 40, 41, 50, 55, 61], "locat": [1, 2, 9, 33, 37, 39, 43, 45, 46, 47, 48, 53], "control": [1, 8, 9, 12, 14, 15, 16, 17, 18, 19, 20, 21, 36, 38, 43, 46, 47, 48, 49, 53, 56, 57, 60, 61], "org": [1, 7, 15, 36, 38, 57], "while": [1, 3, 7, 8, 33, 37, 49], "packag": [1, 2, 4, 5, 11, 13, 19, 33, 36, 37, 38, 39, 41, 42, 43, 46, 50, 51, 52, 53, 55, 57, 58, 61], "written": [1, 19, 27, 32, 33, 41], "respect": [1, 2, 3, 4, 7, 8, 24, 48, 49, 50], "type": [1, 2, 3, 4, 5, 8, 10, 11, 12, 13, 14, 15, 16, 19, 20, 21, 24, 27, 28, 30, 31, 32, 33, 39, 40, 41, 42, 43, 46, 48, 51, 52, 53, 55, 58], "stabl": 1, "against": 1, "accept": [1, 19, 29, 41, 42, 48, 49, 50, 52, 58], "api": [1, 2, 4, 7, 19, 23, 25, 27, 28, 29, 30, 31, 32, 34], "abi": 1, "e": [1, 2, 3, 4, 5, 7, 8, 10, 11, 14, 17, 18, 19, 21, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 37, 39, 41, 42, 43, 47, 48, 49, 51, 52, 55, 56, 58, 61], "name": [1, 2, 3, 4, 5, 8, 11, 14, 15, 17, 18, 19, 20, 21, 23, 24, 26, 27, 28, 30, 31, 32, 33, 35, 37, 39, 41, 43, 44, 46, 47, 48, 51, 53, 55, 56], "convent": [1, 33], "master": [1, 3, 21, 33], "semi": 1, "binari": 1, "good": [1, 2, 4, 7, 39, 56], "same": [1, 9, 10, 11, 15, 29, 33, 40, 43, 48, 49, 50, 51], "build": [1, 9, 19, 33, 37, 41], "dai": 1, "ros_distro": [1, 3, 21, 23], "foxi": [1, 6, 8, 19], "galact": [1, 6, 19], "releas": [1, 3, 8, 21, 33], "version": [1, 3, 7, 9, 15, 21, 50], "non": [1, 8, 26, 33, 43], "brake": 1, "distribut": [1, 3, 21, 61], "three": [1, 3, 5, 13, 16, 17, 21, 33, 41, 49, 57], "stage": [1, 10, 26], "current": [1, 7, 15, 16, 17, 19, 20, 49, 50, 55], "futur": [1, 8, 10, 49, 50], "compat": [1, 3, 5, 8, 19, 21], "direct": [1, 5, 7, 19, 33, 41, 48], "local": [1, 2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 47], "possibl": [1, 3, 7, 11, 17, 18, 21, 23, 25, 27, 28, 29, 30, 31, 32, 34, 37, 41, 49], "core": [1, 12, 33], "immedi": [1, 11, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 51], "depend": [1, 3, 9, 13, 17, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 49, 51, 55], "fail": [1, 29, 33], "expect": [1, 7, 8, 9, 26, 33, 36, 38, 39, 50, 55, 56, 57], "after": [1, 10, 11, 18, 19, 21, 23, 33, 39, 41, 48, 49, 50, 55, 56], "next": [1, 23, 33, 49], "sync": 1, "abl": 1, "potenti": [1, 8, 9, 41, 48], "mid": 1, "power": [1, 2, 4, 8, 19], "plausibl": 1, "analyt": 1, "integr": [2, 3, 4, 7, 8, 18, 21, 26, 28, 33, 48, 49, 50, 51, 56, 61], "architectur": [2, 4, 7, 8, 9], "gazebo": [2, 4, 7, 18, 21, 23, 35, 59], "classic": [2, 18, 21, 59], "which": [2, 3, 4, 5, 7, 8, 9, 11, 15, 18, 19, 20, 21, 23, 25, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 41, 43, 46, 47, 48, 49, 50, 53, 55, 56], "instanti": [2, 4, 11], "manag": [2, 4, 5, 7, 8, 12, 13, 14, 16, 17, 19, 20, 21, 33, 41, 50, 61], "connect": [2, 3, 4, 18, 21, 30, 33], "model": [2, 4, 23, 25, 33], "cd": [2, 3, 4, 9, 21, 33], "docker": [2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34], "allow": [2, 3, 4, 5, 11, 21, 33, 45, 48, 49, 50, 54], "without": [2, 3, 4, 5, 8, 11, 18, 19, 21, 26, 41, 48, 49], "gui": [2, 4, 21, 23, 26, 27, 29, 30, 31, 32, 34, 35, 54], "configur": [2, 3, 4, 5, 7, 8, 10, 11, 13, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 49, 50, 55], "properli": [2, 4, 10, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "command": [2, 3, 4, 5, 7, 8, 9, 11, 12, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 44, 45, 48, 49, 52, 54, 57, 58, 61], "rm": [2, 3, 4, 21, 23], "net": [2, 4, 8, 21, 23], "host": [2, 4, 21, 23, 60], "ros2": [2, 3, 4, 8, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "launch": [2, 3, 4, 11, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "cart_example_posit": [2, 4], "py": [2, 4, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "fals": [2, 4, 15, 18, 21, 23, 25, 37, 39, 45, 47, 48, 50, 51, 55, 56], "machin": [2, 3, 4, 7, 21], "client": [2, 4, 50], "gzclient": 2, "rocker": [2, 4], "go": [2, 4, 8, 11, 19, 33, 41], "tool": [2, 4, 5, 7, 8, 9, 33, 37], "imag": [2, 4, 11], "inject": [2, 4, 8, 9], "nvidia": [2, 4], "And": 2, "user": [2, 4, 7, 11, 21, 33, 49], "id": [2, 4, 20, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 37, 39], "specif": [2, 4, 7, 10, 11, 13, 14, 15, 17, 33, 35, 44, 47, 49, 50], "file": [2, 3, 4, 5, 7, 8, 11, 15, 18, 19, 21, 37, 39, 41, 42, 43, 50, 52, 58], "cleaner": [2, 4], "mount": [2, 4], "permiss": [2, 4, 11], "instal": [2, 4, 9, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "instruct": [2, 4, 9, 28, 33, 35], "x11": [2, 4], "latest": [2, 3, 4, 9], "move": [2, 4, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 45, 56], "cart": [2, 4], "rail": [2, 4], "exec": [2, 4, 23], "bash": [2, 3, 4, 9, 19, 21, 23, 33, 41], "home": [2, 4], "ros2_w": [2, 3, 4, 21], "example_posit": [2, 4], "need": [2, 3, 4, 5, 7, 8, 10, 17, 19, 21, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 41, 49, 51], "addit": [2, 4, 5, 10, 21, 24, 28, 33], "element": [2, 4, 33, 37, 48], "includ": [2, 4, 5, 7, 9, 11, 13, 19, 20, 25, 33, 37, 41, 50, 56, 60], "access": [2, 3, 4, 8, 11, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47], "interfac": [2, 4, 7, 8, 10, 11, 12, 13, 16, 19, 21, 23, 25, 26, 27, 28, 30, 31, 32, 35, 36, 38, 40, 41, 43, 46, 48, 49, 53, 57, 59, 60, 61], "state": [2, 3, 4, 5, 7, 8, 10, 11, 13, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 43, 47, 48], "gazebosystem": [2, 14], "system": [2, 3, 4, 5, 7, 8, 9, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 48, 50, 59, 60, 61], "hardwar": [2, 4, 8, 9, 10, 12, 13, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 41, 48, 51, 56, 61], "slider_to_cart": [2, 4, 42, 52, 58], "command_interfac": [2, 3, 4, 14, 17, 24, 26, 33, 37, 48, 50, 51], "effort": [2, 4, 5, 14, 21, 33, 40, 42, 45, 47, 48, 50, 51], "param": [2, 3, 4, 11, 14, 15, 17, 18, 24, 28, 33], "min": [2, 3, 4, 17, 33], "1000": [2, 4, 14, 33], "state_interfac": [2, 3, 4, 14, 17, 18, 24, 33, 37, 48, 50], "posit": [2, 3, 4, 5, 8, 11, 14, 17, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 42, 47, 48, 49, 50, 51, 52, 55, 58], "initial_valu": [2, 4, 14, 17, 18, 24, 33], "veloc": [2, 3, 4, 5, 8, 10, 14, 21, 25, 27, 28, 29, 33, 37, 38, 39, 40, 45, 46, 47, 48, 49, 50, 51, 52, 55, 58], "defin": [2, 4, 5, 7, 11, 14, 17, 19, 21, 33, 37, 41, 43, 46, 47, 48, 49, 50, 51, 53, 55], "paramet": [2, 4, 5, 8, 9, 14, 15, 19, 21, 23, 24, 28, 33, 41, 50], "mimick": [2, 4], "detail": [2, 3, 4, 5, 11, 16, 17, 18, 19, 26, 33, 35, 36, 38, 39, 41, 49, 50, 57], "manual": [2, 3, 4, 7, 11, 19, 21, 23, 29, 30, 31, 32, 34, 35, 41, 61], "multipli": [2, 4, 14], "definit": [2, 3, 4, 11, 14, 19, 33, 37, 39, 40, 41, 43, 45, 46, 47, 48, 53], "left_finger_joint": [2, 4, 14], "prismat": [2, 4, 14], "right_finger_joint": [2, 4, 14], "axi": [2, 4, 7, 14, 33, 36, 38, 39, 43, 57], "xyz": [2, 4, 14, 33], "rpy": [2, 4, 14, 33], "1415926535": [2, 4, 14], "parent": [2, 4, 14, 19, 33, 39, 41, 56], "link": [2, 3, 4, 8, 10, 13, 14, 33, 37, 40], "base": [2, 3, 4, 8, 13, 14, 19, 20, 21, 25, 27, 28, 32, 33, 37, 39, 41, 44, 55, 56, 59, 60], "child": [2, 4, 14, 17, 33, 39, 56], "finger_left": [2, 4, 14], "lower": [2, 4, 14, 33, 51], "upper": [2, 4, 14, 33, 51], "In": [2, 3, 4, 5, 7, 8, 10, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 41, 47, 49, 55], "actual": [2, 4, 10, 39, 56], "pars": [2, 4, 5, 12, 17, 18], "load": [2, 3, 4, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 40, 41], "appropri": [2, 4, 7, 49], "By": [2, 4, 11, 25, 33, 47, 49], "though": [2, 4, 11, 25, 26], "extens": [2, 4], "via": [2, 3, 4, 21, 23, 30, 31, 33, 50, 60], "creat": [2, 3, 4, 5, 8, 11, 18, 19, 21, 25, 33, 41], "between": [2, 3, 4, 7, 13, 17, 21, 33, 36, 38, 39, 47, 48, 49, 50, 51, 56, 57], "filenam": [2, 4, 33], "libgazebo_ros2_control": 2, "so": [2, 3, 4, 10, 11, 19, 33, 37, 41, 50], "robot_param": [2, 4], "robot_descript": [2, 4, 11, 23, 33], "robot_param_nod": [2, 4], "robot_state_publish": [2, 4, 11, 25, 47], "config": [2, 4, 21], "cart_control": [2, 4], "yaml": [2, 3, 4, 7, 9, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 50], "controller_manager_nam": 2, "simulation_controller_manag": 2, "option": [2, 4, 5, 11, 16, 17, 18, 19, 20, 23, 24, 29, 37, 39, 40, 41, 43, 47, 50, 51, 55], "server": [2, 45, 50], "node": [2, 3, 4, 11, 15, 16, 18, 20, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 56], "hold_joint": [2, 4], "true": [2, 4, 15, 24, 25, 28, 35, 37, 39, 48, 49, 50, 51, 55, 56], "hold": [2, 4, 49], "wa": [2, 4, 7, 9, 19, 23, 24, 28, 29, 33, 41, 49], "claim": [2, 4, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37], "hasn": [2, 4], "been": [2, 4, 26], "yet": [2, 4, 6, 10, 11, 21, 26, 39, 49, 50], "controller_manag": [2, 3, 4, 7, 11, 20, 29, 40, 41, 42, 50, 52, 58], "attempt": [2, 4, 11, 50], "get": [2, 4, 8, 9, 10, 11, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 51, 61], "out": [2, 4, 5, 11, 33, 39], "most": [2, 4, 7, 19, 21, 25, 33, 41], "case": [2, 4, 5, 7, 8, 10, 21, 26, 33, 41, 47, 49, 50, 61], "least": [2, 4, 17, 19, 41, 50], "start": [2, 4, 5, 8, 10, 11, 13, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 41, 48, 49, 56, 61], "hardware_interfac": [2, 3, 4, 5, 15, 16, 18, 19, 21, 27, 30, 31, 32, 33, 37, 39, 40, 41], "jointstateinterfac": [2, 4], "effortjointinterfac": [2, 4], "velocityjointinterfac": [2, 4], "pluginlib": [2, 3, 4, 5, 11, 19, 33, 41, 51], "implement": [2, 3, 4, 5, 7, 8, 11, 15, 17, 18, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 39, 41, 44, 49, 50, 51, 55, 56, 57, 61], "complex": [2, 3, 4, 7, 8, 9, 10], "mechan": [2, 4, 10, 50], "nonlinear": [2, 4], "spring": [2, 4], "linkag": [2, 4, 23, 26, 34], "etc": [2, 4, 11, 29, 33, 37, 61], "These": [2, 4, 21, 33, 39, 45, 56], "inherit": [2, 4, 11, 33], "gazebosysteminterfac": 2, "systeminterfac": [2, 4, 5, 15, 18, 30, 33], "level": [2, 4, 7, 8, 11, 26, 27, 32, 42, 49, 52, 58], "properti": [2, 4, 33], "sub": [2, 4, 25], "class": [2, 3, 4, 8, 11, 13, 16, 19, 20, 33, 41, 44, 49], "specifi": [2, 4, 11, 19, 21, 33, 37, 40, 41, 48, 49, 50, 51], "For": [2, 3, 4, 7, 8, 10, 11, 16, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 48, 50, 51, 55, 57], "exampl": [2, 3, 4, 5, 7, 8, 10, 11, 18, 20, 25, 28, 37, 39, 42, 43, 50, 51, 52, 56, 58, 61], "xml": [2, 4, 5, 11, 13, 15, 19, 33, 41], "insid": [2, 4, 18, 21, 23], "basic": [2, 3, 4, 5, 7, 8, 19, 21, 28, 41], "joint_state_broadcast": [2, 4, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "publish": [2, 4, 7, 10, 17, 21, 24, 25, 33, 37, 40, 43, 46, 47, 49, 53, 56, 61], "resourc": [2, 4, 5, 19, 29], "regist": [2, 4, 5], "stateinterfac": [2, 4, 33], "topic": [2, 4, 7, 8, 10, 11, 17, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 50, 51, 56, 59], "sensor_msg": [2, 4, 46, 53], "msg": [2, 4, 11, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 42, 43, 44, 46, 49, 50, 51, 52, 53, 55, 58], "jointstat": [2, 4], "joint_trajectory_control": [2, 4, 7, 20, 23, 40, 48, 54], "call": [2, 3, 4, 5, 10, 15, 19, 24, 28, 33, 41], "follow_joint_trajectori": [2, 4, 50], "control_msg": [2, 4, 37, 48, 50, 51, 55, 61], "followjointtrajectori": [2, 4, 48, 50], "ros__paramet": [2, 4, 37, 39, 42, 43, 45, 46, 47, 48, 50, 52, 53, 58], "update_r": [2, 4, 11, 40, 42, 52, 58], "100": [2, 3, 15, 17, 42, 52, 58], "hz": [2, 4, 39, 42, 45, 52, 58], "jointtrajectorycontrol": [2, 4, 5, 20, 23, 37, 50], "jointstatebroadcast": [2, 4, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "contain": [2, 9, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 39, 42, 43, 45, 46, 47, 48, 49, 51, 52, 53, 55, 58], "content": [2, 19, 33, 41], "There": [2, 3, 4, 6, 11, 16, 19, 21, 25, 27, 30, 31, 32, 41, 49, 50], "meter": [2, 4, 33], "cart_example_veloc": [2, 4], "cart_example_effort": [2, 4], "diff_driv": 2, "tricycle_dr": 2, "world": [2, 4, 11, 18, 25, 33, 37], "example_veloc": [2, 4], "example_effort": [2, 4], "example_diff_dr": [2, 4], "example_tricycle_dr": [2, 4], "parallel": [2, 3, 4, 17], "gripper": [2, 3, 4, 5, 8, 17, 40], "gripper_mimic_joint_exampl": [2, 4], "send": [2, 4, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 50, 51], "example_gripp": [2, 4], "roll": [3, 9, 21, 33, 39, 56], "both": [3, 7, 8, 11, 26, 33, 34, 39, 47, 48, 49, 50], "humbl": 3, "iron": [3, 6], "about": [3, 7, 18, 19, 29, 39, 46, 47, 50, 61], "page": [3, 8, 59, 60], "want": [3, 9, 10, 11, 21], "download": [3, 21], "repositori": [3, 7, 12, 17, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 40], "mkdir": [3, 9, 21], "p": [3, 9, 11, 21, 48, 51], "src": [3, 9, 19, 21, 23, 33, 37, 39, 41, 43, 45, 46, 47, 48, 53], "wget": 3, "raw": 3, "githubusercont": 3, "com": [3, 7, 9, 21, 33], "ros2_control_ci": 3, "ros_control": [3, 7, 8, 61], "vc": [3, 9, 21], "import": [3, 9, 19, 21, 33, 41, 48], "rosdep": [3, 21], "updat": [3, 5, 10, 11, 12, 16, 21, 25, 33, 37, 40, 41, 50, 55], "rosdistro": [3, 21], "sudo": [3, 9, 11, 21], "apt": [3, 9, 11, 21], "path": [3, 8, 21, 33, 50], "ignor": [3, 11, 21, 39, 48, 55, 56], "r": [3, 21, 34], "y": [3, 21, 25, 28, 30, 31, 37, 43, 46], "everyth": [3, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41], "opt": [3, 9, 21, 23], "setup": [3, 9, 18, 19, 21, 23, 28, 33, 41, 49, 51], "sh": [3, 21, 23], "colcon": [3, 9, 19, 21, 33, 41], "symlink": [3, 9, 21, 33], "forget": [3, 5, 21, 50], "folder": [3, 8, 19, 21, 23, 24, 25, 28, 36, 37, 38, 39, 41, 43, 45, 46, 47, 48, 53, 55, 57], "found": [3, 11, 12, 19, 23, 24, 25, 28, 37, 39, 41, 43, 44, 46, 50, 53, 61], "figur": [3, 49], "uml": 3, "diagram": [3, 20], "describ": [3, 5, 10, 17, 21, 23, 29, 33, 39, 49], "intern": [3, 7, 10, 15, 17, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 49, 50], "cm": [3, 11], "abstract": [3, 8, 16, 33], "side": [3, 7, 8, 39], "entri": [3, 41], "point": [3, 33, 37, 41, 48, 49, 50, 51, 61], "servic": [3, 7, 11, 16, 33, 40], "executor": [3, 11], "custom": [3, 11, 17, 18, 21, 24, 27, 28, 43, 47, 48, 59], "howev": [3, 7, 10, 11, 21, 26, 33], "usual": [3, 5, 18, 19, 33, 37, 41], "recommend": [3, 8, 9, 19, 51], "default": [3, 5, 10, 11, 18, 25, 29, 36, 37, 38, 39, 41, 43, 44, 45, 46, 47, 48, 49, 50, 51, 53, 55, 56, 57], "ros2_control_nod": [3, 11, 29, 33], "assum": [3, 10, 37], "On": [3, 8, 9, 33], "hand": [3, 33, 60], "deactiv": [3, 5, 20, 23, 48], "unload": [3, 11, 20], "match": [3, 21, 49], "enabl": [3, 5, 7, 8, 13, 19, 20, 21, 28, 37, 39, 43, 51, 55], "report": [3, 7, 47, 61], "error": [3, 7, 11, 13, 15, 19, 26, 29, 33, 37, 41, 47, 48, 50, 51], "conflict": [3, 5, 7], "execut": [3, 11, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 45, 48, 49, 50, 57], "loop": [3, 8, 11, 18, 23, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 50, 55], "data": [3, 5, 7, 18, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 40, 47, 49, 56], "output": [3, 7, 8, 11, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 56], "write": [3, 5, 8, 10, 11, 12, 15, 24, 26, 27, 28, 32, 37, 40, 51], "physic": [3, 5, 16, 17, 18], "driver": [3, 8, 21, 33, 60], "librari": [3, 5, 19, 20, 25, 36, 38, 40, 41, 51, 55, 57], "lifecycl": [3, 5, 8, 11, 13, 16, 19, 33, 40], "reus": [3, 8, 10], "ani": [3, 5, 8, 10, 11, 13, 14, 16, 17, 21, 26, 33, 41, 48, 50], "flexibl": 3, "commun": [3, 5, 7, 8, 15, 19, 21, 23, 25, 27, 28, 29, 30, 31, 33, 34], "motor": [3, 10, 60], "encod": [3, 33, 39, 56], "theori": [3, 61], "compar": [3, 7, 8], "refer": [3, 10, 25, 26, 33, 60], "valu": [3, 5, 7, 15, 17, 18, 19, 21, 23, 24, 26, 28, 30, 31, 33, 35, 37, 39, 41, 43, 46, 47, 48, 50, 53, 55, 56], "measur": [3, 18, 27, 37, 43, 47, 48, 60], "calcul": [3, 25, 33, 37, 39, 49, 55, 56], "input": [3, 7, 8, 9, 10, 17, 24, 26, 33, 37, 39, 42, 44, 48, 49, 52, 55, 56, 58], "object": [3, 33], "deriv": [3, 48, 49, 51], "controllerinterfac": [3, 5, 10, 20, 33, 41], "controller_interfac": [3, 20, 33, 37, 41, 43, 46, 53], "export": [3, 10, 11, 19, 21, 33, 37, 41], "plugin": [3, 9, 11, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 41, 51, 54], "forwardcommandcontrol": [3, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35], "lifecyclenod": [3, 41], "design": [3, 5, 7, 8, 10, 25, 33, 61], "document": [3, 7, 8, 17, 18, 19, 21, 28, 40, 49, 50], "list": [3, 8, 10, 11, 13, 19, 20, 26, 33, 41, 43, 59, 60, 61], "srv": [3, 50, 51], "controller_manager_msg": 3, "directli": [3, 14, 18, 23, 26, 51, 61], "exist": [3, 5, 7, 8, 9, 10, 11, 13, 17, 19, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 41, 50], "friendli": 3, "cli": [3, 11, 12, 20, 23, 24, 25, 28, 29, 30, 31, 32, 34, 35], "auto": [3, 11], "complet": [3, 16, 26, 33, 49], "rang": [3, 17, 40], "common": [3, 7, 21, 47, 61], "avail": [3, 5, 8, 10, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 50], "capabl": [3, 7], "realiz": [3, 8, 49, 50], "repres": [3, 16, 33, 39, 40, 49], "dynam": [3, 19, 25, 33, 37, 41, 51, 59], "multi": [3, 5, 7, 8, 9, 21, 29], "dof": [3, 17, 21, 33, 45, 51], "differ": [3, 7, 8, 11, 12, 16, 17, 19, 21, 23, 24, 28, 29, 33, 39, 42, 43, 47, 49, 51, 52, 55, 58], "actuat": [3, 5, 7, 13, 16, 17, 18, 19, 21, 26, 56], "transmiss": [3, 21], "humanoid": 3, "logic": 3, "channel": [3, 60], "kuka": [3, 23, 29, 30, 31, 60], "rsi": [3, 23, 30, 31, 60], "sensor": [3, 5, 7, 13, 16, 18, 19, 21, 27, 32, 33, 37, 40, 60], "sens": [3, 5, 40, 43], "relat": [3, 7, 8], "joint": [3, 5, 8, 11, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 44, 45, 47, 48, 49, 51, 52, 55, 56, 57, 58, 61], "forc": [3, 8, 17, 20, 30, 31, 37, 40, 60], "torqu": [3, 17, 30, 31, 37, 40], "simpl": [3, 7, 8, 10, 19, 21, 23, 25, 26, 28, 33, 34, 41, 45], "valv": [3, 17], "mandatori": [3, 11], "dc": 3, "arduino": [3, 27, 32], "board": 3, "modular": [3, 8, 9, 21, 33], "independ": [3, 8, 11, 31], "explan": [3, 11, 19], "given": [3, 11, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 42, 49, 50, 52, 58], "through": [3, 7, 8, 10, 11, 19, 20, 21, 26, 33, 41, 50, 51, 61], "tag": [3, 11, 14, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 41, 61], "chosen": [3, 17], "structur": [3, 7, 10, 11, 19, 33, 39, 41, 48, 49], "track": [3, 36, 57, 61], "togeth": [3, 10, 17, 28, 30, 55], "multipl": [3, 5, 8, 10, 17, 19, 21, 47], "xacro": [3, 15, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "macro": [3, 5, 15, 19, 21, 33, 41], "hereund": 3, "rrbot": [3, 11, 17, 20, 21, 24, 25, 27, 29, 30, 31, 32, 34], "extern": [3, 5, 7, 10, 18, 21, 37, 51], "end": [3, 5, 16, 19, 33, 37, 41, 48], "effector": [3, 37], "site": 3, "rrbotsystempositiononli": [3, 31], "ros2_control_demo_hardwar": [3, 17, 20], "rrbotsystempositiononlyhardwar": [3, 5, 17, 20, 23, 26, 31], "example_param_write_for_sec": 3, "example_param_read_for_sec": [3, 17], "joint1": [3, 17, 20, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35, 37, 50], "joint2": [3, 17, 20, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35, 37, 50], "rrbotforcetorquesensor1d": 3, "forcetorquesensor1dhardwar": 3, "tcp_fts_sensor": [3, 17, 30, 31], "frame_id": [3, 17, 30, 31, 43, 46, 53, 55], "rrbot_tcp": 3, "min_forc": 3, "max_forc": 3, "rrbotgripp": 3, "positionactuatorhardwar": 3, "gripper_joint": 3, "extend": [3, 5, 7, 10, 19, 41], "instead": [3, 14, 18, 24, 28, 33, 35, 37, 48, 51], "pure": 3, "stack": [3, 8, 61], "could": [3, 8, 10, 21, 29, 41, 47, 50], "altern": [3, 9, 11, 23, 50], "script": [3, 7, 19, 41], "skeleton": 3, "sim": [4, 20, 59], "dockerfil": [4, 21], "Then": [4, 10, 21, 33, 35, 49], "ign": 4, "meet": [4, 61], "prerequisit": 4, "along": 4, "gazebosimsystem": 4, "libgz_ros2_control": 4, "gazebosimros2controlplugin": 4, "gazebosimsysteminterfac": 4, "controller_manager_prefix_node_nam": 4, "diff_drive_exampl": 4, "tricycle_drive_exampl": 4, "robothw": 5, "rigid": 5, "imposs": 5, "combinedrobothardwar": 5, "drawback": [5, 61], "solut": [5, 8, 9], "optim": [5, 11], "combin": [5, 10, 17, 18, 21, 29, 47, 49, 50, 51], "composit": [5, 8], "cell": [5, 43], "surround": 5, "box": [5, 21, 23, 25, 28, 29, 30, 31, 34, 35], "hard": [5, 11], "approach": [5, 10, 15], "doe": [5, 11, 19, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 41, 49, 50], "enforc": [5, 29, 33], "string": [5, 11, 18, 21, 37, 39, 41, 43, 44, 45, 46, 47, 48, 51, 53, 55, 56], "ensur": [5, 8, 11, 14, 33, 49], "constant": [5, 21], "had": 5, "itself": [5, 10], "took": 5, "care": [5, 7, 11, 19, 29, 41, 50], "resourcemanag": [5, 10], "take": [5, 7, 10, 19, 26, 29, 39, 41, 47, 49], "anymor": 5, "controllermanag": [5, 11], "granular": 5, "sensorinterfac": [5, 27, 31], "actuatorinterfac": [5, 27, 32], "abov": [5, 23, 24, 26, 27, 28, 29, 30, 31, 32, 34, 35, 40, 49], "choos": [5, 21, 55], "suitabl": [5, 8], "strategi": [5, 21, 49], "decid": [5, 15], "mayb": [5, 10], "constructor": [5, 19, 33, 41], "initi": [5, 17, 18, 19, 24, 33, 41, 49], "variabl": [5, 15, 19, 33, 41, 48], "urdf": [5, 8, 11, 14, 15, 17, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37], "snippet": 5, "hardwareinfo": [5, 15, 33], "here": [5, 12, 19, 33, 41, 42, 50, 52, 58], "cross": [5, 47], "export_": 5, "_interfac": [5, 19], "joint_a2": 5, "extract": [5, 39, 56], "sensibl": 5, "stop": [5, 8, 10, 11, 13, 20, 23, 24, 28, 29, 33, 39, 48, 56], "safe": [5, 33, 39, 41, 50, 56], "interrupt": [5, 11], "stream": [5, 8], "exchang": [5, 7, 23, 25, 27, 28, 29, 30, 31, 32, 34, 61], "equival": [5, 33], "pluginlib_export_class": [5, 19, 21, 33, 41], "cpp": [5, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "excel": 5, "real": [5, 7, 8, 11, 18, 24, 28, 41, 47, 48, 61], "critic": [5, 7], "mark": [5, 26], "member": [5, 19, 33, 41, 49], "init": 5, "declar": [5, 15, 19, 33, 41], "state_interface_configur": [5, 33, 41], "command_interface_configur": [5, 33, 41], "on_configur": [5, 19, 33, 41], "on_activ": [5, 13, 15, 19, 33, 41], "on_deactiv": [5, 13, 19, 33, 41], "final": [5, 8, 16, 33], "joint_trajectory_plugin": 5, "jazzi": 6, "task": [7, 8, 39], "envis": 7, "simul": [7, 18, 20, 21, 23, 24, 26, 28, 30, 31, 33], "ignit": 7, "showcas": [7, 8, 9], "grace": 7, "degrad": 7, "roadmap": [7, 21, 61], "place": [7, 9, 11, 39, 41, 56], "draft": 7, "gpio": [7, 14, 18, 21, 33], "mode": [7, 10, 19, 26, 29, 37, 48, 49, 51, 55], "switch": [7, 20, 21, 23, 29], "movement": [7, 48], "safeti": [7, 33], "skill": 7, "prefer": 7, "familiar": [7, 61], "mentor": 7, "\u0161togl": [7, 8], "size": [7, 39, 53, 56], "350": 7, "hour": 7, "difficulti": 7, "medium": 7, "focus": [7, 8, 10], "although": [7, 10, 13, 17, 50], "easi": [7, 11], "therefor": [7, 10, 11, 21, 41, 47, 48, 50], "often": [7, 24, 28, 41, 47], 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"set-up-controllers"]], "gazebo_ros2_control_demos": [[2, "gazebo-ros2-control-demos"]], "Getting Started": [[3, "getting-started"]], "Installation": [[3, "installation"], [21, "installation"]], "Binary packages": [[3, "binary-packages"]], "Building from Source": [[3, "building-from-source"]], "Architecture": [[3, "architecture"]], "Controller Manager": [[3, "controller-manager"], [11, "controller-manager"]], "Resource Manager": [[3, "resource-manager"]], "Controllers": [[3, "controllers"]], "User Interfaces": [[3, "user-interfaces"]], "Hardware Components": [[3, "hardware-components"], [16, "hardware-components"]], "Hardware Description in URDF": [[3, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[3, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[4, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[4, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[4, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[4, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[4, "gz-ros2-control-demos"]], "Differences to ros_control (ROS 1)": [[5, "differences-to-ros-control-ros-1"]], "Hardware Structures - classes": [[5, "hardware-structures-classes"]], "Hardware Interfaces": [[5, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[5, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[5, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[5, "robothardware-to-components"]], "Controller Migration": [[5, "controller-migration"]], "Migration Guides": [[6, "migration-guides"]], "Coming from ros_control (ROS 1)": [[6, "coming-from-ros-control-ros-1"]], "Between different ROS 2 distributions": [[6, "between-different-ros-2-distributions"]], "ros2_control": [[6, "ros2-control"], [12, "ros2-control"]], "ros2_controllers": [[6, "ros2-controllers"], [40, "ros2-controllers"]], "Project 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[[8, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[8, "roscon-fr-2021"]], "Diagrams": [[8, "diagrams"]], "Images": [[8, "images"]], "ROSCon 2023 Workshop": [[9, "roscon-2023-workshop"]], "ros2_control on Steroids": [[9, "ros2-control-on-steroids"]], "Summary": [[9, "summary"]], "Slides": [[9, "slides"]], "Before coming to the conference": [[9, "before-coming-to-the-conference"]], "People": [[9, "people"]], "Controller Chaining / Cascade Control": [[10, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[10, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[10, "motivation-purpose-and-use"]], "Implementation": [[10, "implementation"]], "A Controller Base-Class: ChainableController": [[10, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[10, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[10, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[10, "debugging-outputs"]], "Closing remarks": [[10, "closing-remarks"]], "Determinism": [[11, "determinism"]], "Subscribers": [[11, "subscribers"], [39, "subscribers"], [51, "subscribers"], [55, "subscribers"]], "Parameters": [[11, "parameters"], [18, "parameters"], [36, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [45, "parameters"], [46, "parameters"], [47, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"], [55, "parameters"], [56, "parameters"], [57, "parameters"], [58, "parameters"]], "Handling Multiple Controller Managers": [[11, "handling-multiple-controller-managers"]], "Helper scripts": [[11, "helper-scripts"]], "spawner": [[11, "spawner"]], "unspawner": [[11, "unspawner"]], "Using the Controller Manager in a Process": [[11, "using-the-controller-manager-in-a-process"]], "Concepts": [[11, "concepts"], [12, "concepts"]], "Restarting all controllers": [[11, "restarting-all-controllers"]], "Restarting hardware": [[11, "restarting-hardware"]], "API Documentation": [[12, "api-documentation"]], "Features": [[12, "features"]], "Foxy to Galactic": [[13, "foxy-to-galactic"]], "hardware_interface": [[13, "hardware-interface"]], "Iron to Jazzy": [[14, "iron-to-jazzy"]], "component parser": [[14, "component-parser"]], "Different update rates for Hardware Components": [[15, "different-update-rates-for-hardware-components"]], "By counting loops": [[15, "by-counting-loops"]], "By measuring elapsed time": [[15, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[16, "guidelines-and-best-practices"], [40, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[16, "handling-of-errors-that-happen-during-read-and-write-calls"]], "ros2_control hardware interface types": [[17, "ros2-control-hardware-interface-types"]], "Joints": [[17, "joints"]], "Sensors": [[17, "sensors"]], "GPIOs": [[17, "gpios"]], "Examples": [[17, "examples"], [21, "examples"]], "Mock Components": [[18, "mock-components"]], "Generic System": [[18, "generic-system"]], "Per-interface Parameters": [[18, "per-interface-parameters"]], "Writing a Hardware Component": [[19, "writing-a-hardware-component"]], "Useful External References": [[19, "useful-external-references"], [41, "useful-external-references"]], "Command Line Interface": [[20, "command-line-interface"]], "list_controllers": [[20, "list-controllers"]], "list_controller_types": [[20, "list-controller-types"]], "list_hardware_components": [[20, "list-hardware-components"]], "list_hardware_interfaces": [[20, "list-hardware-interfaces"]], "load_controller": [[20, "load-controller"]], "reload_controller_libraries": [[20, "reload-controller-libraries"]], "set_controller_state": [[20, "set-controller-state"]], "set_hardware_component_state": [[20, "set-hardware-component-state"]], "switch_controllers": [[20, "switch-controllers"]], "unload_controller": [[20, "unload-controller"]], "view_controller_chains": [[20, "view-controller-chains"]], "Demos": [[21, "demos"]], "What you can find in this repository": [[21, "what-you-can-find-in-this-repository"]], "Goals": [[21, "goals"]], "Examples Overview": [[21, "examples-overview"]], "Local installation": [[21, "local-installation"]], "Build from debian packages": [[21, "build-from-debian-packages"]], "Build from source": [[21, "build-from-source"]], "Using Docker": [[21, "using-docker"]], "To view the robot": [[21, "to-view-the-robot"]], "To run the ros2_control demos": [[21, "to-run-the-ros2-control-demos"]], "Quick Hints": [[21, "quick-hints"]], "Example 1: RRBot": [[23, "example-1-rrbot"]], "Tutorial steps": [[23, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"], [32, "tutorial-steps"], [34, "tutorial-steps"], [35, "tutorial-steps"]], "Files used for this demos": [[23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [35, "files-used-for-this-demos"]], "Controllers from this demo": [[23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[24, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[25, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[26, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[27, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[28, "diffbot"]], "Example 3: Robots with multiple interfaces": [[29, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[30, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[30, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[31, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[32, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[33, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[33, "ros2-control-overview"]], "Writing a URDF": [[33, "writing-a-urdf"]], "Geometry": [[33, "geometry"]], "URDF file": [[33, "urdf-file"]], "Writing a hardware interface": [[33, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[33, "plugin-description-file-hardware"]], "CMake library (hardware)": [[33, "cmake-library-hardware"]], "Writing a controller": [[33, "writing-a-controller"]], "Plugin description file (controller)": [[33, "plugin-description-file-controller"]], "CMake library (controller)": [[33, "cmake-library-controller"]], "Launching the example": [[33, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[34, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[35, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[36, "ackermann-steering-controller"]], "Admittance Controller": [[37, "admittance-controller"]], "ROS 2 interface of the controller": [[37, "ros-2-interface-of-the-controller"], [42, "ros-2-interface-of-the-controller"], [44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [58, "ros-2-interface-of-the-controller"]], "Topics": [[37, "topics"], [42, "topics"], [44, "topics"], [52, "topics"], [58, "topics"]], "ros2_control interfaces": [[37, "ros2-control-interfaces"]], "References": [[37, "references"], [39, "references"], [50, "references"]], "States": [[37, "states"], [50, "states"], [51, "states"], [55, "states"]], "Commands": [[37, "commands"], [47, "commands"], [50, "commands"], [51, "commands"], [55, "commands"]], "bicycle_steering_controller": [[38, "bicycle-steering-controller"]], "diff_drive_controller": [[39, "diff-drive-controller"]], "Other features": [[39, "other-features"], [50, "other-features"], [56, "other-features"]], "Description of controller\u2019s interfaces": [[39, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"], [51, "description-of-controller-s-interfaces"], [55, "description-of-controller-s-interfaces"]], "Feedback": [[39, "feedback"]], "Output": [[39, "output"]], "ROS 2 Interfaces": [[39, "ros-2-interfaces"]], "Publishers": [[39, "publishers"], [50, "publishers"], [51, "publishers"], [55, "publishers"]], "Controllers for Mobile Robots": [[40, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[40, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[40, "broadcasters"]], "Common Controller Parameters": [[40, "common-controller-parameters"]], "Writing a new controller": [[41, "writing-a-new-controller"]], "effort_controllers": [[42, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[42, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[43, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[44, "forward-command-controller"]], "Hardware interface type": [[44, "hardware-interface-type"], [47, "hardware-interface-type"]], "Gripper Action Controller": [[45, "gripper-action-controller"]], "List of parameters": [[45, "list-of-parameters"], [46, "list-of-parameters"], [47, "list-of-parameters"], [48, "list-of-parameters"], [53, "list-of-parameters"]], "An example parameter file": [[45, "an-example-parameter-file"], [46, "an-example-parameter-file"], [47, "an-example-parameter-file"], [48, "an-example-parameter-file"], [53, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[46, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[47, "joint-state-broadcaster"]], "Details about parameters": [[48, "details-about-parameters"]], "Trajectory Representation": [[49, "trajectory-representation"]], "Interpolation Method none": [[49, "interpolation-method-none"]], "Interpolation Method spline": [[49, "interpolation-method-spline"]], "Visualized Examples": [[49, "visualized-examples"]], "Trajectory Replacement": [[49, "trajectory-replacement"]], "joint_trajectory_controller": [[50, "joint-trajectory-controller"]], "Hardware interface types": [[50, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[50, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[50, "preemption-policy"]], "Actions  1": [[50, "actions"]], "Subscriber 1": [[50, "subscriber"]], "Services": [[50, "services"], [51, "services"]], "Further information": [[50, "further-information"]], "PID Controller": [[51, "pid-controller"]], "Execution logic of the controller": [[51, "execution-logic-of-the-controller"], [55, "execution-logic-of-the-controller"]], "Using the controller": [[51, "using-the-controller"]], "References (from a preceding controller)": [[51, "references-from-a-preceding-controller"], [55, "references-from-a-preceding-controller"]], "position_controllers": [[52, "position-controllers"]], "position_controllers/JointGroupPositionController": [[52, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[53, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[54, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[55, "steering-controllers-library"]], "tricycle_controller": [[56, "tricycle-controller"]], "Velocity commands": [[56, "velocity-commands"]], "tricycle_steering_controller": [[57, "tricycle-steering-controller"]], "velocity_controllers": [[58, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[58, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[59, "simulator-integrations"]], "Hosted by ros-controls": [[59, "hosted-by-ros-controls"]], "Community": [[59, "community"]], "Supported Robots": [[60, "supported-robots"]], "Communication protocols": [[60, "communication-protocols"]], "End-effectors": [[60, "end-effectors"]], "Non robot-devices": [[60, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[60, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[60, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation!": [[61, "welcome-to-the-ros2-control-documentation"]], "ros2_control Repositories": [[61, "ros2-control-repositories"]], "Development Organisation and Communication": [[61, "development-organisation-and-communication"]]}, "indexentries": {}})
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