From d7b54dfc02e0a2b6a71d17219afdcfbe3d2e28c9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Thu, 24 Jul 2025 21:56:39 +0200
Subject: [PATCH] Add topic_based_hardware_interfaces (#477)

(cherry picked from commit a0ba5d38e5578f3451c31d6c2ae1d8d817e11e3c)
---
 doc/governance/governance.rst        |  2 ++
 doc/simulators/simulators.rst        |  2 +-
 index.rst                            |  2 ++
 make_help_scripts/create_pr_stats.py |  2 ++
 make_help_scripts/deploy_defines.py  | 13 +++++++++++++
 5 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/doc/governance/governance.rst b/doc/governance/governance.rst
index 7a825a9cd6a..6aadf421dbc 100644
--- a/doc/governance/governance.rst
+++ b/doc/governance/governance.rst
@@ -118,5 +118,7 @@ The following repositories are managed by the ros-controls PMC:
      - Not Yet Available
    * - https://github.com/ros-controls/realtime_tools
      - Not Yet Available
+   * - https://github.com/ros-controls/topic_based_hardware_interfaces
+     - Marq Rasmussen
    * - https://github.com/ros-controls/.github
      - Not Yet Available
diff --git a/doc/simulators/simulators.rst b/doc/simulators/simulators.rst
index 39c32a3f6d2..cee85ab9ceb 100644
--- a/doc/simulators/simulators.rst
+++ b/doc/simulators/simulators.rst
@@ -11,6 +11,7 @@ Hosted by ros-controls
    :titlesonly:
 
    Gazebo <../gz_ros2_control/doc/index.rst>
+   topic-based <../topic_based_hardware_interfaces/doc/index.rst>
 
 
 End-Of-Life
@@ -28,7 +29,6 @@ To add your *ros2_control* integration, submit a PR to this page on Github!
 
 * `Isaac Sim <https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html>`__
 * `Webots <https://github.com/cyberbotics/webots_ros2/tree/master/webots_ros2_control>`__
-* Custom interfaces to simulators with a `Topic Based System <https://github.com/PickNikRobotics/topic_based_ros2_control>`__
 * `MuJoCo <https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/tree/ros2/cartesian_controller_simulation>`__
 * `MuJoCo <https://github.com/moveit/mujoco_ros2_control>`__
 * `Algoryx AGX Dynamic <https://github.com/Algoryx/agx-ros2-collection>`__
diff --git a/index.rst b/index.rst
index 54f117a441a..10fb9105148 100644
--- a/index.rst
+++ b/index.rst
@@ -40,6 +40,7 @@ The framework consists of the following Github repositories hosted under the `ro
 * `control_msgs`_ - common messages;
 * `kinematics_interface`_ - for using C++ kinematics frameworks;
 * `gz_ros2_control`_ - Plugin for Gazebo;
+* `topic_based_hardware_interfaces`_ - hardware_interfaces for simulators and other hardware that only support ROS topic-based communication;
 
 
 Additionally, the following (unreleased) packages are relevant for documentation and project management:
@@ -83,6 +84,7 @@ General discussions
 .. _ros2_controllers: https://github.com/ros-controls/ros2_controllers
 .. _control_msgs: https://github.com/ros-controls/control_msgs
 .. _realtime_tools: https://github.com/ros-controls/realtime_tools
+.. _topic_based_hardware_interfaces: https://github.com/ros-controls/topic_based_hardware_interfaces
 .. _control_toolbox: https://github.com/ros-controls/control_toolbox
 .. _kinematics_interface: https://github.com/ros-controls/kinematics_interface
 .. _ros2_control_demos: https://github.com/ros-controls/ros2_control_demos
diff --git a/make_help_scripts/create_pr_stats.py b/make_help_scripts/create_pr_stats.py
index 6cab4fa0dc1..1dee761236c 100644
--- a/make_help_scripts/create_pr_stats.py
+++ b/make_help_scripts/create_pr_stats.py
@@ -671,6 +671,7 @@ def print_contributors_stats(contributors_stats):
   "gazebo_ros2_control",
   "gz_ros2_control",
   "kinematics_interface",
+  "topic_based_hardware_interfaces",
   "ros2_control_ci",
   "ros2_rhel",
   "ros2_debian"
@@ -687,6 +688,7 @@ def print_contributors_stats(contributors_stats):
   "gazebo_ros2_control": "master",
   "gz_ros2_control": "rolling",
   "kinematics_interface": "master",
+  "topic_based_hardware_interfaces": "main",
   "ros2_control_ci": "master",
   "ros2_rhel": "main",
   "ros2_debian": "main"
diff --git a/make_help_scripts/deploy_defines.py b/make_help_scripts/deploy_defines.py
index dd9030fd2d5..45cee2c7081 100644
--- a/make_help_scripts/deploy_defines.py
+++ b/make_help_scripts/deploy_defines.py
@@ -178,6 +178,19 @@ def add_pr_stats_file():
         },
         "pr": None
     },
+    "topic_based_hardware_interfaces": {
+        "url": "https://github.com/ros-controls/topic_based_hardware_interfaces",
+        "branch_version": {
+            "foxy": "main",
+            "galactic": "main",
+            "humble": "main",
+            "iron": "main",
+            "jazzy": "main",
+            "kilted": "main",
+            "rolling": "main"
+        },
+        "pr": None
+    },
     ".github": {
         "url": "https://github.com/ros-controls/.github",
         "branch_version": {