Fix wiki links (#143)

* fix relative links in wiki

* fix file

* fix remaining links

* regenerate sonar

* add new pipe for sonar

* rollback

---------

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

doc/wiki/Home.md

@@ -92,13 +92,13 @@ The repository contains a few other packages aside from the 3 drivers:
 - `kuka_driver_interfaces`: this package contains the custom message definition necessary for KUKA robots.
 - `kuka_drivers_core`: this package contains core functionalities used by more drivers, including the `control_node`, base classes for nodes with improved parameter handling, enum and constant definitions and a class for managing the controller activation and deactivation at control mode changes. Details about these features can be found in the package [documentation](https://github.com/kroshu/kuka_drivers/blob/master/kuka_drivers_core/README.md)
 - `kuka_rsi_simulator`: this package contains a simple simulator of RSI, that implements a UDP server accepting the same xml format as RSI and returning the commanded values as the current state, without any checks.
-- `iiqka_moveit_example`: this package contains basic examples of using moveit with the driver, more information in the [next section](#moveit-integration). Additionally it contains a [launch file](../../examples/iiqka_moveit_example/launch/launch_trajectory_publisher.launch.py) that commands 4 goal positions near the home position cyclically (the points and parameters can be modified in [this](../../examples/iiqka_moveit_example/config/dummy_publisher.yaml) configuration file). This can be used to test moving any robot with the driver, and is the recommended way instead of the `rqt_joint_trajectory_controller`, which commands very jerky trajectories due to batching.
+- `iiqka_moveit_example`: this package contains basic examples of using moveit with the driver, more information in the [next section](#moveit-integration). Additionally it contains a [launch file](https://github.com/kroshu/kuka_drivers/blob/master/examples/iiqka_moveit_example/launch/launch_trajectory_publisher.launch.py) that commands 4 goal positions near the home position cyclically (the points and parameters can be modified in [this](https://github.com/kroshu/kuka_drivers/blob/master/examples/iiqka_moveit_example/config/dummy_publisher.yaml) configuration file). This can be used to test moving any robot with the driver, and is the recommended way instead of the `rqt_joint_trajectory_controller`, which commands very jerky trajectories due to batching.
 
 ## Moveit integration
 
 The `ros2_control` framework supports Moveit out-of-the-box, as the `joint_trajectory_controller` can interpolate the trajectories planned by it. Setting up Moveit is a little more complex, therefore an example package (`iiqka_moveit_example`) is provided to help developers.
 
-The package contains a [launch file](../../examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py) that starts the iiQKA driver, `rviz`, and the `move_group` server with the required configuration. The `robot_manager` lifecycle node should be configured and activated after startup.
+The package contains a [launch file](https://github.com/kroshu/kuka_drivers/blob/master/examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py) that starts the iiQKA driver, `rviz`, and the `move_group` server with the required configuration. The `robot_manager` lifecycle node should be configured and activated after startup.
 
 After activation, the Motion Planning plugin can be added (`Add` -> `moveit_ros_visualisation` -> `MotionPlanning`) to plan trajectories from the `rviz` GUI. (`Planning group` in the `Planning` tab should be changed to `manipulator`.)
 

doc/wiki/KSS_RSI.md

@@ -88,9 +88,9 @@ The IP address of the client machine must be provided as a launch argument. For
     ```
     ros2 launch kuka_kss_rsi_driver startup.launch.py client_ip:=0.0.0.0
     ```
-     - This starts the 3 core components of every driver (described in the *Non-real-time interface* section of the [project overview](Project%20overview.md)) and the following controllers:
+     - This starts the 3 core components of every driver (described in the [Non-real-time interface](https://github.com/kroshu/kuka_drivers/wiki#non-real-time-interface) section of the project overview) and the following controllers:
        - `joint_state_broadcaster` (no configuration file, all state interfaces are published)
-       - `joint_trajectory_controller` ([configuration file](../../kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml))
+       - `joint_trajectory_controller` ([configuration file](https://github.com/kroshu/kuka_drivers/tree/master/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml))
 
      -  After successful startup, the `robot_manager` node has to be activated to start the cyclic communication with the robot controller, see further steps (before this only a collapsed robot is visible in `rviz`):
 

doc/wiki/Sunrise_FRI.md

@@ -42,9 +42,9 @@ The parameters in the driver configuration file can be also changed during runti
     ```
     ros2 launch kuka_sunrise_fri_driver startup.launch.py controller_ip:=0.0.0.0
     ```
-    - This starts the 3 core components of every driver (described in the *Non-real-time interface* section of the [project overview](Project%20overview.md)) and the following controllers:
+    - This starts the 3 core components of every driver (described in the [Non-real-time interface](https://github.com/kroshu/kuka_drivers/wiki#non-real-time-interface) section of the project overview) and the following controllers:
       - `joint_state_broadcaster` (no configuration file, all state interfaces are published)
-      - `joint_trajectory_controller` ([configuration file](../../kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml))
+      - `joint_trajectory_controller` ([configuration file](https://github.com/kroshu/kuka_drivers/tree/master/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml))
       - [`fri_configuration_controller`](https://github.com/kroshu/kuka_controllers?tab=readme-ov-file#fri_configuration_controller) (no configuration file)
       - [`fri_state_broadcaster`](https://github.com/kroshu/kuka_controllers?tab=readme-ov-file#fri_state_broadcaster) (no configuration file)
 

doc/wiki/iiQKA_EAC.md

@@ -50,11 +50,11 @@ To start the driver, two launch file are available, with and without `rviz`. To
 ros2 launch kuka_iiqka_eac_driver startup.launch.py client_ip:=0.0.0.0 controller_ip:=0.0.0.0
 ```
 
-This starts the 3 core components of every driver (described in the *Non-real-time interface* section of the [project overview](Project%20overview.md)) and the following controllers:
+This starts the 3 core components of every driver (described in the [Non-real-time interface](https://github.com/kroshu/kuka_drivers/wiki#non-real-time-interface) section of the project overview) and the following controllers:
 - `joint_state_broadcaster` (no configuration file, all state interfaces are published)
-- `joint_trajectory_controller` ([configuration file](../../kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml))
-- `joint_group_impedance_controller` ([configuration file](../../kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml))
-- `effort_controller` (of type `JointGroupPositionController`, [configuration file](../../kuka_iiqka_eac_driver/config/effort_controller_config.yaml))
+- `joint_trajectory_controller` ([configuration file](https://github.com/kroshu/kuka_drivers/tree/master/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml))
+- `joint_group_impedance_controller` ([configuration file](https://github.com/kroshu/kuka_drivers/tree/master/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml))
+- `effort_controller` (of type `JointGroupPositionController`, [configuration file](https://github.com/kroshu/kuka_drivers/tree/master/kuka_iiqka_eac_driver/config/effort_controller_config.yaml))
 - [`control_mode_handler`](https://github.com/kroshu/kuka_controllers?tab=readme-ov-file#control_mode_handler) (no configuration file)
 
 After successful startup, the `robot_manager` node has to be activated to start the cyclic communication with the robot controller (before this only a collapsed robot is visible in `rviz`):

kuka_drivers_core/include/communication_helpers/service_tools.hpp

@@ -22,7 +22,6 @@
 
 namespace kuka_drivers_core
 {
-
 template <typename FutureT, typename WaitTimeT>
 std::future_status wait_for_result(FutureT & future, WaitTimeT time_to_wait)
 {