Fix wiki links (#157)

* fix links

* fix overview links

* fix rt instructions

* roundtrip time

---------

Co-authored-by: Aron Svastits <svastits1@gmail.com>

doc/wiki/1_iiQKA_EAC.md

@@ -3,7 +3,7 @@
 ### Setup
 
 #### Client side
-- It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/Realtime)).
+- It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/5_Realtime)).
 - Set a fixed IP in the subnet of the KONI interface for the real-time machine.
 
 #### Controller side
@@ -62,7 +62,7 @@ After successful startup, the `robot_manager` node has to be activated to start
   ros2 lifecycle set robot_manager activate
   ```
 
-On successful activation the brakes of the robot will be released and external control is started using the requested control mode. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the *Additional packages* section of the [project overview](Project%20overview.md)).
+On successful activation the brakes of the robot will be released and external control is started using the requested control mode. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the [Additional packages](https://github.com/kroshu/kuka_drivers/wiki#additional-packages) section of the project overview).
 
 It is important to note, that the commanded and measures torques have a different meaning: the `effort` command interface accepts values that should be superimposed on internal gravity compensation, while the state interface provides the actually measured torques (sum on internal and external effects).
 
@@ -77,6 +77,7 @@ Both launch files support the following arguments:
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
 - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
 - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 2500 us, only used if `use_fake_hardware` is true)
 - `qos_config`: the location of the QoS configuration file (defaults to `kuka_iiqka_eac_driver/config/qos_config.yaml`)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_iiqka_eac_driver/config/ros2_controller_config.yaml`)
 - `jtc_config`: the location of the configuration file for the `joint_trajectory_controller` (defaults to `kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml`)

doc/wiki/2_KSS_RSI.md

@@ -3,7 +3,7 @@
 ### Setup
 
 #### Client side
-It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/Realtime)).
+It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/5_Realtime)).
 
 To set up the controller with WorkVisual (which is necessary if RSI is not yet installed), a Windows machine is also required.
 
@@ -103,7 +103,7 @@ The IP address of the client machine must be provided as a launch argument. For
 3. Start the `KRC:\R1\Program\ros_rsi.src` program on the controller and execute the line of `RSI_MOVECORR()`
    - in T1, a warning (*!!! Attention - Sensor correction goes active !!!*) should be visible after reaching `RSI_MOVECORR()`, which should be confirmed to start this step
 
-On successful activation the brakes of the robot will be released and external control is started. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the *Additional packages* section of the [project overview](Project%20overview.md)).
+On successful activation the brakes of the robot will be released and external control is started. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the [Additional packages](https://github.com/kroshu/kuka_drivers/wiki#additional-packages) section of the project overview).
 
 
 ##### Launch arguments
@@ -116,6 +116,7 @@ Both launch files support the following arguments:
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
 - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
 - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 4000 us, only used if `use_fake_hardware` is true)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_kss_rsi_driver/config/ros2_controller_config.yaml`)
 - `jtc_config`: the location of the configuration file for the `joint_trajectory_controller` (defaults to `kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml`)
 

doc/wiki/3_Sunrise_FRI.md

@@ -3,7 +3,7 @@
 ### Setup
 
 #### Client side
-- It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/Realtime)).
+- It is recommended to use the driver on a real-time capable client machine (further information about setting up the PREEMPT_RT patch can be found [here](https://github.com/kroshu/kuka_drivers/wiki/5_Realtime)).
 - Set a fixed IP in the subnet of the controller for the real-time machine.
 
 #### Controller side
@@ -53,7 +53,7 @@ The parameters in the driver configuration file can be also changed during runti
     ros2 lifecycle set robot_manager configure
     ros2 lifecycle set robot_manager activate
     ```
-On successful activation the brakes of the robot will be released and external control is started using the requested control mode. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the *Additional packages* section of the [project overview](Project%20overview.md)).
+On successful activation the brakes of the robot will be released and external control is started using the requested control mode. To test moving the robot, the `rqt_joint_trajectory_controller` is not recommended, use the launch file in the `iiqka_moveit_example` package instead (usage is described in the [Additional packages](https://github.com/kroshu/kuka_drivers/wiki#additional-packages) section of the project overview).
 
 
 ##### Launch arguments
@@ -65,6 +65,7 @@ Both launch files support the following argument:
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
 - `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
 - `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 5000 us, only used if `use_fake_hardware` is true)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_sunrise_fri_driver/config/ros2_controller_config.yaml`)
 - `jtc_config`: the location of the configuration file for the `joint_trajectory_controller` (defaults to `kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml`)
 

doc/wiki/5_Realtime.md

@@ -11,7 +11,7 @@
 
 2. Find and download the real-time patch with matching major and minor versions from [here](https://cdn.kernel.org/pub/linux/kernel/projects/rt/) (*patch-\<version\>-rt\<nr\>.patch.gz*)
 
-3. Download the kernel with identical version from [here](https://mirrors.edge.kernel.org/pub/linux/kernel/) (*linux-\<version\>.tar.gz*)
+3. Download the kernel with identical version as the real-time patch from [here](https://mirrors.edge.kernel.org/pub/linux/kernel/) (*linux-\<version\>.tar.gz*)
 
 4. Create directory to build kernel
    ```

doc/wiki/Home.md

@@ -139,4 +139,4 @@ As the robot controllers manage the timing of the drivers, it does not make sens
 
 ## Detailed setup and startup instructions
 
-For more detailed information about the drivers, visit the dedicated wiki pages for [KSS](https://github.com/kroshu/kuka_drivers/wiki/KSS_RSI), [Sunrise](https://github.com/kroshu/kuka_drivers/wiki/Sunrise_FRI) or [iiQKA](https://github.com/kroshu/kuka_drivers/wiki/iiQKA_EAC) robots.
+For more detailed information about the drivers, visit the dedicated wiki pages for [KSS](https://github.com/kroshu/kuka_drivers/wiki/2_KSS_RSI), [Sunrise](https://github.com/kroshu/kuka_drivers/wiki/3_Sunrise_FRI) or [iiQKA](https://github.com/kroshu/kuka_drivers/wiki/1_iiQKA_EAC) robots.

kuka_iiqka_eac_driver/launch/startup.launch.py

@@ -33,6 +33,7 @@ def launch_setup(context, *args, **kwargs):
     roll = LaunchConfiguration("roll")
     pitch = LaunchConfiguration("pitch")
     yaw = LaunchConfiguration("yaw")
+    roundtrip_time = LaunchConfiguration("roundtrip_time")
     qos_config = LaunchConfiguration("qos_config")
     controller_config = LaunchConfiguration("controller_config")
     jtc_config = LaunchConfiguration("jtc_config")
@@ -86,6 +87,9 @@ def launch_setup(context, *args, **kwargs):
             "yaw:=",
             yaw,
             " ",
+            "roundtrip_time:=",
+            roundtrip_time,
+            " ",
             "qos_config_file:=",
             qos_config,
         ],
@@ -186,6 +190,7 @@ def generate_launch_description():
     launch_arguments.append(DeclareLaunchArgument("roll", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("pitch", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("yaw", default_value="0"))
+    launch_arguments.append(DeclareLaunchArgument("roundtrip_time", default_value="2500"))
     launch_arguments.append(
         DeclareLaunchArgument(
             "qos_config",

kuka_kss_rsi_driver/launch/startup.launch.py

@@ -35,6 +35,7 @@ def launch_setup(context, *args, **kwargs):
     roll = LaunchConfiguration("roll")
     pitch = LaunchConfiguration("pitch")
     yaw = LaunchConfiguration("yaw")
+    roundtrip_time = LaunchConfiguration("roundtrip_time")
     ns = LaunchConfiguration("namespace")
     controller_config = LaunchConfiguration("controller_config")
     jtc_config = LaunchConfiguration("jtc_config")
@@ -85,6 +86,9 @@ def launch_setup(context, *args, **kwargs):
             " ",
             "yaw:=",
             yaw,
+            " ",
+            "roundtrip_time:=",
+            roundtrip_time,
         ],
         on_stderr="capture",
     )
@@ -166,6 +170,7 @@ def generate_launch_description():
     launch_arguments.append(DeclareLaunchArgument("roll", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("pitch", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("yaw", default_value="0"))
+    launch_arguments.append(DeclareLaunchArgument("roundtrip_time", default_value="4000"))
     launch_arguments.append(
         DeclareLaunchArgument(
             "controller_config",

kuka_sunrise_fri_driver/launch/startup.launch.py

@@ -32,6 +32,7 @@ def launch_setup(context, *args, **kwargs):
     roll = LaunchConfiguration("roll")
     pitch = LaunchConfiguration("pitch")
     yaw = LaunchConfiguration("yaw")
+    roundtrip_time = LaunchConfiguration("roundtrip_time")
     controller_config = LaunchConfiguration("controller_config")
     jtc_config = LaunchConfiguration("jtc_config")
     if ns.perform(context) == "":
@@ -75,6 +76,9 @@ def launch_setup(context, *args, **kwargs):
             " ",
             "yaw:=",
             yaw,
+            " ",
+            "roundtrip_time:=",
+            roundtrip_time,
         ],
         on_stderr="capture",
     )
@@ -168,6 +172,7 @@ def generate_launch_description():
     launch_arguments.append(DeclareLaunchArgument("roll", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("pitch", default_value="0"))
     launch_arguments.append(DeclareLaunchArgument("yaw", default_value="0"))
+    launch_arguments.append(DeclareLaunchArgument("roundtrip_time", default_value="5000"))
     launch_arguments.append(
         DeclareLaunchArgument(
             "controller_config",