Converted python launch files to xml format

.clang-format

@@ -0,0 +1,14 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+IncludeBlocks: Preserve

.github/workflows/README.md

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+## Build status
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/StoglRobotics-forks/kuka_experimental/tree/rolling) | [![Rolling Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=rolling)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-binary-build-main.yml?branch=rolling) <br /> [![Rolling Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=rolling)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-binary-build-testing.yml?branch=rolling) <br /> [![Rolling Semi-Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=rolling)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-semi-binary-build-main.yml?branch=rolling) <br /> [![Rolling Semi-Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=rolling)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-semi-binary-build-testing.yml?branch=rolling) <br /> [![Rolling Source Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-source-build.yml/badge.svg?branch=rolling)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/rolling-source-build.yml?branch=rolling) | [![Doxygen Doc Deployment](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://StoglRobotics-forks.github.io/kuka_experimental_Documentation/rolling/html/index.html) | [kuka_experimental](https://index.ros.org/p/kuka_experimental/#rolling)
+**Foxy** | [`foxy`](https://github.com/StoglRobotics-forks/kuka_experimental/tree/foxy) | [![Foxy Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Source Build](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-source-build.yml/badge.svg?branch=foxy)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/foxy-source-build.yml?branch=foxy) | [![Doxygen Doc Deployment](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/StoglRobotics-forks/kuka_experimental/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://StoglRobotics-forks.github.io/kuka_experimental_Documentation/foxy/html/index.html) | [kuka_experimental](https://index.ros.org/p/kuka_experimental/#foxy)
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+[Detailed build status](.github/workflows/README.md)
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

.github/workflows/ci-format.yml

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+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/[email protected]
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/ci-ros-lint.yml

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+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          kuka_resources
+          kuka_lbr_iiwa_support
+          kuka_kr210_support
+          kuka_kr150_support
+          kuka_kr120_support
+          kuka_kr16_support
+          kuka_kr10_support
+          kuka_kr6_support
+          kuka_kr5_support
+          kuka_kr3_support
+          kuka_experimental
+
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          kuka_resources
+          kuka_lbr_iiwa_support
+          kuka_kr210_support
+          kuka_kr150_support
+          kuka_kr120_support
+          kuka_kr16_support
+          kuka_kr10_support
+          kuka_kr6_support
+          kuka_kr5_support
+          kuka_kr3_support
+          kuka_experimental

.github/workflows/ci_bionic.yml

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+name: CI - Ubuntu Bionic
+
+on:
+  # direct pushes to protected branches are not supported
+  pull_request:
+    branches:
+      - melodic-devel
+  # run every day, at 6am UTC
+  schedule:
+    - cron: '0 6 * * *'
+  # allow manually starting this workflow
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: ROS Melodic (${{ matrix.ros_repo }})
+    runs-on: ubuntu-20.04
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [ melodic ]
+        ros_repo: [ main, testing ]
+
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+      CATKIN_LINT: true
+
+    steps:
+      - name: Fetch repository
+        uses: actions/checkout@v3
+
+      - name: ccache cache
+        uses: actions/cache@v3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # we always want the ccache cache to be persisted, as we cannot easily
+          # determine whether dependencies have changed, and ccache will manage
+          # updating the cache for us. Adding 'run_id' to the key will force an
+          # upload at the end of the job.
+          key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}
+
+      - name: Run industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ matrix.ros_distro }}
+          ROS_REPO: ${{ matrix.ros_repo }}

.github/workflows/ci_focal.yml

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+name: CI - Ubuntu Focal
+
+on:
+  # direct pushes to protected branches are not supported
+  pull_request:
+    branches:
+      - melodic-devel
+  # run every day, at 6am UTC
+  schedule:
+    - cron: '0 6 * * *'
+  # allow manually starting this workflow
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: ROS Noetic (${{ matrix.ros_repo }})
+    runs-on: ubuntu-20.04
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [ noetic ]
+        ros_repo: [ main, testing ]
+
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+      CATKIN_LINT: true
+
+    steps:
+      - name: Fetch repository
+        uses: actions/checkout@v3
+
+      - name: ccache cache
+        uses: actions/cache@v3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # we always want the ccache cache to be persisted, as we cannot easily
+          # determine whether dependencies have changed, and ccache will manage
+          # updating the cache for us. Adding 'run_id' to the key will force an
+          # upload at the end of the job.
+          key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}
+
+      - name: Run industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ matrix.ros_distro }}
+          ROS_REPO: ${{ matrix.ros_repo }}

.github/workflows/foxy-abi-compatibility.yml

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+name: Foxy - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: foxy
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

.github/workflows/foxy-binary-build-main.yml

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+name: Foxy Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: main
+      upstream_workspace: kuka_experimental-not-released.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-binary-build-testing.yml

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+name: Foxy Binary Build - testing
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: testing
+      upstream_workspace: kuka_experimental-not-released.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-semi-binary-build-main.yml

@@ -0,0 +1,25 @@
+name: Foxy Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: main
+      upstream_workspace: kuka_experimental.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-semi-binary-build-testing.yml

@@ -0,0 +1,25 @@
+name: Foxy Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: testing
+      upstream_workspace: kuka_experimental.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-source-build.yml

@@ -0,0 +1,19 @@
+name: Foxy Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: foxy
+      ref: foxy
+      ros2_repo_branch: foxy