From 15f69ce6bfccb236c612dd4f87d96fcc9747406c Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Fri, 12 Jun 2020 07:42:05 +0200
Subject: [PATCH 1/2] Add actual documentation link into calibration checker
 output

The output was generated when we didn't have the final repository available.
However, updating the output got lost over time...
---
 ur_robot_driver/src/ur/calibration_checker.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ur_robot_driver/src/ur/calibration_checker.cpp b/ur_robot_driver/src/ur/calibration_checker.cpp
index cf44581e6..a6dcaee93 100644
--- a/ur_robot_driver/src/ur/calibration_checker.cpp
+++ b/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
     {

From dcde4573713348afdd9aa1f4c34c7a5dbd9a3eb2 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Mon, 15 Jun 2020 11:47:25 +0200
Subject: [PATCH 2/2] Draft for checking URLs

---
 .github/workflows/ci.yml              | 13 +++++++++++++
 ur_robot_driver/scripts/check_urls.sh | 23 +++++++++++++++++++++++
 2 files changed, 36 insertions(+)
 create mode 100755 ur_robot_driver/scripts/check_urls.sh

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index a27fe992b..a12a1021d 100644
--- a/.github/workflows/ci.yml
+++ b/.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
+
diff --git a/ur_robot_driver/scripts/check_urls.sh b/ur_robot_driver/scripts/check_urls.sh
new file mode 100755
index 000000000..1380a04b5
--- /dev/null
+++ b/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