Merge pull request #193 from UniversalRobots/add_documentation_link

Add actual documentation link into calibration checker output

Author: Felix Exner

.github/workflows/ci.yml

@@ -29,3 +29,16 @@ jobs:
       - uses: actions/checkout@v1
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+
+
+  check_urls:
+    runs-on: ubuntu-latest
+    steps:
+     - uses: actions/checkout@v1
+     - name: check URLs
+       run: |
+         echo "$(pwd)"
+         ls -l
+         ur_robot_driver/scripts/check_urls.sh -r ur_robot_driver/src/ur
+       #working-directory: ./ur_robot_driver
+

ur_robot_driver/scripts/check_urls.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+set -e
+
+#Find URLs in code:
+urls=$(grep -oP "(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?" "$@")
+
+fail_counter=0
+
+for item in $urls; do
+#     echo $item  
+    filename=$(echo "$item" | cut -d':' -f1)
+    url=$(echo "$item" | cut -d':' -f2-)
+#     echo "Checking $url from file $filename"
+    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo "Invalid link in file $filename: $url"
+        ((fail_counter=fail_counter+1))
+    else
+        echo "$url ok"
+    fi
+done
+
+exit $fail_counter

ur_robot_driver/src/ur/calibration_checker.cpp

@@ -32,7 +32,9 @@ bool CalibrationChecker::consume(std::shared_ptr<primary_interface::PrimaryPacka
       LOG_ERROR("The calibration parameters of the connected robot don't match the ones from the given kinematics "
                 "config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the "
                 "ur_calibration tool to extract the correct calibration from the robot and pass that into the "
-                "description. See [TODO Link to documentation] for details.");
+                "description. See "
+                "[https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for "
+                "details.");
     }
     else
     {