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‎.github/ISSUE_TEMPLATE/bug_report.yml

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name: 🐞 Bug Report
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description: Report a problem.
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title: "[BUG] <short description>"
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labels: [bug]
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body:
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- type: markdown
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attributes:
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value: |
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Thanks for reporting a bug!
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- type: input
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id: os
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attributes:
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label: What operating system are you using?
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placeholder: e.g. Ubuntu 22.04
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validations:
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required: true
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- type: input
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id: ros
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attributes:
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label: What version of ROS2 are you using?
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placeholder: e.g. Humble Hawksbill
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validations:
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required: true
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- type: textarea
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id: what
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attributes:
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label: What happened?
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description: List the sequence of events that led to the problem.
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placeholder: |
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1. The Big Bang happened, then
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2. I was born.
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validations:
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required: true
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- type: textarea
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id: why
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attributes:
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label: What might be causing the problem?
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description: Provide information on why it might be happening.
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placeholder: I asked ChatGPT and this is what it said.
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validations:
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required: false
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- type: textarea
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id: evidence
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attributes:
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label: Supporting Evidence
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description: Provide screenshots, compilation or runtime errors, etc.
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placeholder: (┛ಠДಠ)┛彡┻━┻
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validations:
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required: true

‎.github/ISSUE_TEMPLATE/feature_request.yml

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############################################################
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# Required Fields #
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############################################################
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name: ✨ Feature Request
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description: Suggest a new feature or enhancement.
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############################################################
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# Optional Fields #
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############################################################
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assignees: []
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labels: [enhancement]
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projects: []
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title: "[REQUEST] <Short description>"
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############################################################
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# Layout #
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############################################################
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body:
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- type: markdown
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attributes:
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value: |
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Ideas are always weclome!
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- type: dropdown
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id: priority
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attributes:
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label: Priority
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description: How important is this feature to you?
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options:
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- Nice to have
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- Important
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- Blocking my work
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validations:
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required: true
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- type: textarea
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id: feature
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attributes:
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label: What would you like to see?
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description: A concise description, with pictures if possible.
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validations:
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required: true
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- type: textarea
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id: benefit
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attributes:
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label: What is the immediate benefit?
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description: How this feature will be useful.
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validations:
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required: true
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- type: textarea
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id: implication
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attributes:
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label: What implications will it have?
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description: The long-term benefit or impact.
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validations:
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required: false

‎.github/ISSUE_TEMPLATE/open_task.yml

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############################################################
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# Required Fields #
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############################################################
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name: 🙋 Open Task
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description: This template is intended for internal use only.
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############################################################
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# Optional Fields #
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############################################################
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assignees: []
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labels: [enhancement]
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projects: []
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title: "🙋 [OPEN] This template is intended for internal use only."
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############################################################
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# Layout #
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############################################################
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body:
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- type: markdown
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attributes:
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value: |
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Open tasks that the public can contribute to.
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- type: dropdown
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id: priority
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attributes:
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label: What is the priority?
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options:
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- Low (Nice to have, but not critical).
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- Medium (Useful, but can live without it).
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- High (I would do this myself, but don't have time).
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validations:
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required: true
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- type: textarea
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id: feature
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attributes:
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label: What would we like to have?
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description: A concise description, with pictures if possible.
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validations:
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required: true
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- type: textarea
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id: benefit
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attributes:
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label: What is the immediate benefit?
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description: How this feature will be useful.
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validations:
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required: true
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- type: textarea
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id: implication
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attributes:
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label: What implications will it have?
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description: The long-term benefit or impact.
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validations:
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required: false

‎CITATION.cff

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cff-version: 1.2.0
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message: "If you use this software, please cite it as below."
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authors:
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- family-names: "Woolfrey"
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given-names: "Jon"
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orcid: "https://orcid.org/0000-0001-5926-5669"
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title: "Kuka Velocity Control"
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version: 1.0.0
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date-released: 2025-04-11
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url: "https://github.com/Woolfrey/control_kuka_velocity"

‎README.md

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- [Launch Files](#rocket-launch-files)
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- [Release Notes](#package-release-notes---v100-april-2025)
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- [Contributing](#handshake-contributing)
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- [Citing this Repository](#bookmark_tabs-citing-this-repository)
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- [License](#scroll-license)
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## :clipboard: Requirements
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### mujoco.py
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If you don't have a real robot, you can use this MuJoCo simulation. Inside the `launch/mujoco.py` you need to specify the `xmlScenePath` where the model is located:
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```
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xmlScenePath = "/home/<username>/workspace/mujoco_menagerie/kuka_iiwa_14/scene.xml"
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```
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- Enables pose control with interactive marker, and
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- Config files for changing control parameters.
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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## :handshake: Contributing
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Contributions are always welcome. Feel free to fork the repository, make changes, and issue a pull request.
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Contributions to this repositore are welcome! Feel free to:
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1. Fork the repository,
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2. Implement your changes / improvements, then
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3. Issue a pull request.
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If you're looking for ideas, you can always check the [Issues tab](https://github.com/Woolfrey/control_kuka_velocity/issues) for those with :raising_hand: [OPEN]. These are things I'd like to implement, but don't have time for. It'd be much appreciated, and you'll be tagged as a contributor :sunglasses:
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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## :bookmark_tabs: Citing this Repository
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You can also raise an issue asking for new features.
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If you find this code useful, spread the word by acknowledging it. Click on `Cite this repository` under the **About** section in the top-right corner of this page :arrow_upper_right:.
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Here's a BibTeX reference:
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```
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@software{woolfrey_kuka_velocity_control_2025,
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author = {Woolfrey, Jon},
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month = apr,
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title = {{K}uka {V}elocity {C}ontrol},
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url = {https://github.com/Woolfrey/control_kuka_velocity},
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version = {1.0.0},
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year = {2025}
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}
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```
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Here's the automatically generated APA format:
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```
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Woolfrey, J. (2025). Kuka Velocity Control (Version 1.0.0). Retrieved from https://github.com/Woolfrey/control_kuka_velocity
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```
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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This software package is licensed under the [GNU General Public License v3.0 (GPL-3.0)](https://choosealicense.com/licenses/gpl-3.0/). You are free to use, modify, and distribute this package, provided that any modified versions also comply with the GPL-3.0 license. All modified versions must make the source code available and be licensed under GPL-3.0. The license also ensures that the software remains free and prohibits the use of proprietary restrictions such as Digital Rights Management (DRM) and patent claims. For more details, please refer to the [full license text](LICENSE).
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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