diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 1ae2b1cdd..c1cce2195 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -4,6 +4,6 @@ Please explain the changes you made, including a reference to the related issue ### Checklist - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code) -- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers +- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/moveit/moveit/pulls) to support the maintainers [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!" diff --git a/.github/workflows/deploy.yaml b/.github/workflows/deploy.yaml index 7aa4561ff..876688cb8 100644 --- a/.github/workflows/deploy.yaml +++ b/.github/workflows/deploy.yaml @@ -22,7 +22,7 @@ jobs: - uses: actions/checkout@v4 - name: Setup Pages uses: actions/configure-pages@v4 - if: github.repository_owner == 'ros-planning' + if: github.repository_owner == 'moveit' - uses: ruby/setup-ruby@v1 with: ruby-version: '3' @@ -33,12 +33,12 @@ jobs: - name: Upload pages artifact uses: actions/upload-pages-artifact@v3 - if: github.repository_owner == 'ros-planning' + if: github.repository_owner == 'moveit' with: path: build/html deploy: - if: github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/master' + if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master' runs-on: ubuntu-latest needs: doc environment: diff --git a/README.md b/README.md index 389367626..2e95bbb59 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,8 @@ # MoveIt Tutorials -[MoveIt 1 Live tutorials](https://ros-planning.github.io/moveit_tutorials/) +[MoveIt 1 Live tutorials](https://moveit.github.io/moveit_tutorials/) -*These are the tutorials for MoveIt 1, for MoveIt 2 see [MoveIt 2 Tutorials](https://github.com/ros-planning/moveit2_tutorials/)* +*These are the tutorials for MoveIt 1, for MoveIt 2 see [MoveIt 2 Tutorials](https://github.com/moveit/moveit2_tutorials/)* This is the primary documentation for the MoveIt project. We strongly encourage you to help improve MoveIt's documentation. Please consider reading the guidelines below for writing the best documentation and tutorials. However, if you are uncomfortable with any of the approaches, simply adding documentation text to your pull requests is better than nothing. @@ -12,7 +12,7 @@ All content in this repository is open source and released under the [BSD Licens This repository is currently built automatically by two systems. Github Actions builds the documentation for Noetic, and ROS Build Farm builds the documentation for older versions: -- [ROS Noetic](https://ros-planning.github.io/moveit_tutorials/): [![CI](https://github.com/ros-planning/moveit_tutorials/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/ci.yaml?query=branch%3Amaster) [![Deploy](https://github.com/ros-planning/moveit_tutorials/actions/workflows/deploy.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/deploy.yaml?query=branch%3Amaster) [![Formatting](https://github.com/ros-planning/moveit_tutorials/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/format.yaml?query=branch%3Amaster) +- [ROS Noetic](https://moveit.github.io/moveit_tutorials/): [![CI](https://github.com/moveit/moveit_tutorials/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/moveit/moveit_tutorials/actions/workflows/ci.yaml?query=branch%3Amaster) [![Deploy](https://github.com/moveit/moveit_tutorials/actions/workflows/deploy.yaml/badge.svg?branch=master)](https://github.com/moveit/moveit_tutorials/actions/workflows/deploy.yaml?query=branch%3Amaster) [![Formatting](https://github.com/moveit/moveit_tutorials/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/moveit/moveit_tutorials/actions/workflows/format.yaml?query=branch%3Amaster) - [ROS Melodic](http://docs.ros.org/melodic/api/moveit_tutorials/html/): [![build farm](http://build.ros.org/buildStatus/icon?job=Mdoc__moveit_tutorials__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__moveit_tutorials__ubuntu_bionic_amd64/) - [ROS Kinetic](http://docs.ros.org/kinetic/api/moveit_tutorials/html/): [![build farm](http://build.ros.org/buildStatus/icon?job=Kdoc__moveit_tutorials__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdoc__moveit_tutorials__ubuntu_xenial_amd64/) @@ -43,7 +43,7 @@ For deploying documentation changes to the web, [Section 3 of the rosdoc_lite wi ## Contributing -We rely on the community to keep these tutorials up-to-date and bug-free. If you find an issue with the tutorials please [open an issue on GitHub](https://github.com/ros-planning/moveit_tutorials/issues/new) or open a PR with the proposed changes. +We rely on the community to keep these tutorials up-to-date and bug-free. If you find an issue with the tutorials please [open an issue on GitHub](https://github.com/moveit/moveit_tutorials/issues/new) or open a PR with the proposed changes. ### Formatting and Style diff --git a/_themes/sphinx_rtd_theme/layout.html b/_themes/sphinx_rtd_theme/layout.html index 8ed9779bf..f90bef074 100644 --- a/_themes/sphinx_rtd_theme/layout.html +++ b/_themes/sphinx_rtd_theme/layout.html @@ -138,7 +138,7 @@
- + {% block body %}{% endblock %} {% if display_github %} diff --git a/_themes/sphinx_rtd_theme/versions.html b/_themes/sphinx_rtd_theme/versions.html index a24689eb6..17d9ee12f 100644 --- a/_themes/sphinx_rtd_theme/versions.html +++ b/_themes/sphinx_rtd_theme/versions.html @@ -9,7 +9,7 @@
Current Versions
-
Noetic
+
Noetic
Melodic
diff --git a/conf.py b/conf.py index f42cdebb2..8dce83d66 100644 --- a/conf.py +++ b/conf.py @@ -37,13 +37,13 @@ html_context = { "display_github": True, - "github_user": "ros-planning", + "github_user": "moveit", "github_repo": "moveit_tutorials", "github_version": "master", "conf_py_path": "", "source_suffix": source_suffix, "css_files": ["_static/override.css"], - "favicon": "favicon.ico" + "favicon": "favicon.ico", # "logo": "logo.png" } diff --git a/doc/benchmarking/benchmarking_tutorial.rst b/doc/benchmarking/benchmarking_tutorial.rst index 2d224e898..00f10c4ab 100644 --- a/doc/benchmarking/benchmarking_tutorial.rst +++ b/doc/benchmarking/benchmarking_tutorial.rst @@ -11,7 +11,7 @@ The example below demonstrates how the benchmarking can be run for a Panda robot Example ------- An example is provided in the ``examples`` folder. The launch file requires a MoveIt configuration package -for the Panda robot arm available from `here `_. +for the Panda robot arm available from `here `_. To run: diff --git a/doc/chomp_planner/chomp_planner_tutorial.rst b/doc/chomp_planner/chomp_planner_tutorial.rst index 7c436118e..dc979c227 100644 --- a/doc/chomp_planner/chomp_planner_tutorial.rst +++ b/doc/chomp_planner/chomp_planner_tutorial.rst @@ -4,7 +4,7 @@ CHOMP Planner .. image:: chomp.png :width: 700px -Covariant Hamiltonian optimization for motion planning (CHOMP) is a gradient-based trajectory optimization procedure that makes many everyday motion planning problems both simple and trainable (Ratliff et al., 2009c). While most high-dimensional motion planners separate trajectory generation into distinct planning and optimization stages, this algorithm capitalizes on covariant gradient and functional gradient approaches to the optimization stage to design a motion planning algorithm based entirely on trajectory optimization. Given an infeasible naive trajectory, CHOMP reacts to the surrounding environment to quickly pull the trajectory out of collision while simultaneously optimizing dynamical quantities such as joint velocities and accelerations. It rapidly converges to a smooth collision-free trajectory that can be executed efficiently on the robot. Integration into latest version of MoveIt is `work in progress `_. `More info `_ +Covariant Hamiltonian optimization for motion planning (CHOMP) is a gradient-based trajectory optimization procedure that makes many everyday motion planning problems both simple and trainable (Ratliff et al., 2009c). While most high-dimensional motion planners separate trajectory generation into distinct planning and optimization stages, this algorithm capitalizes on covariant gradient and functional gradient approaches to the optimization stage to design a motion planning algorithm based entirely on trajectory optimization. Given an infeasible naive trajectory, CHOMP reacts to the surrounding environment to quickly pull the trajectory out of collision while simultaneously optimizing dynamical quantities such as joint velocities and accelerations. It rapidly converges to a smooth collision-free trajectory that can be executed efficiently on the robot. Integration into latest version of MoveIt is `work in progress `_. `More info `_ Getting Started --------------- @@ -19,7 +19,7 @@ Prerequisites Using CHOMP with Your Robot --------------------------- -**Note:** if you are following this demo using the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository, these steps are already done for you and you can skip this section. +**Note:** if you are following this demo using the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository, these steps are already done for you and you can skip this section. #. Simply download :panda_codedir:`chomp_planning_pipeline.launch.xml` file into the launch directory of your MoveIt config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory. #. Adjust the line ```` to ```` replacing ```` with the name of your MoveIt configuration package. @@ -28,7 +28,7 @@ Using CHOMP with Your Robot Running the Demo ---------------- -If you have the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository you should be able to simply run the demo: :: +If you have the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository you should be able to simply run the demo: :: roslaunch panda_moveit_config demo.launch pipeline:=chomp diff --git a/doc/controller_configuration/controller_configuration_tutorial.rst b/doc/controller_configuration/controller_configuration_tutorial.rst index 35ef5041f..a56964721 100644 --- a/doc/controller_configuration/controller_configuration_tutorial.rst +++ b/doc/controller_configuration/controller_configuration_tutorial.rst @@ -53,7 +53,7 @@ The `ROS Controller Manager `_ loads the type: position_controllers/GripperActionController joint: panda_finger_joint1 -The ``MoveItSimpleControllerManager`` configured by MSA `as the default `_ MoveIt controller manager will bridge these controllers with MoveIt pipeline by reading the ``simple_moveit_controllers.yaml`` configuration file, for example: +The ``MoveItSimpleControllerManager`` configured by MSA `as the default `_ MoveIt controller manager will bridge these controllers with MoveIt pipeline by reading the ``simple_moveit_controllers.yaml`` configuration file, for example: .. code-block:: yaml @@ -201,19 +201,19 @@ Integrating Controllers MoveIt Controller Managers only support controllers that implement the ``FollowJointTrajectory`` action out of the box. -This is because only a `ControllerHandleAllocator `_ for this action type is `exported `_ as a plugin. Even though there is a `ControllerHandle `__ for ``GripperCommand`` actions, a corresponding ``ControllerHandleAllocator`` plugin that enables the controller handle to be dynamically created from the ROS controller type name, does not exist. +This is because only a `ControllerHandleAllocator `_ for this action type is `exported `_ as a plugin. Even though there is a `ControllerHandle `__ for ``GripperCommand`` actions, a corresponding ``ControllerHandleAllocator`` plugin that enables the controller handle to be dynamically created from the ROS controller type name, does not exist. ROS Controllers with a ``FollowJointTrajectory`` action interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ *Controller handles* implemented by MoveIt bridge ROS Controllers with the MoveIt motion planning pipeline by means of an `Action Client `_, as long as the controller starts an *Action Server* that handles one of the two types of supported action interfaces: -* The `Joint Trajectory Controller Handle `_ can be used for controllers that support the `Follow Joint Trajectory Action `_. -* The `Gripper Controller Handle `_ can be used for controllers that support the `Gripper Command Action `_. +* The `Joint Trajectory Controller Handle `_ can be used for controllers that support the `Follow Joint Trajectory Action `_. +* The `Gripper Controller Handle `_ can be used for controllers that support the `Gripper Command Action `_. The *MoveIt ROS Control Controller Manager* will regard any controllers loaded by ROS Controller Manager as *managed* if it finds a plugin registration that links the ``type`` of the ROS controller with a MoveIt Controller Handle Allocator. If no such registration is found, the controller is regarded as *unmanaged* (merely *active*) and cannot be used to receive trajectory commands from MoveIt. -For example, see the stock Joint Trajectory Controller `plugin registration `_, which links several flavors of this controller exported from ``ros_controllers`` package with the corresponding MoveIt Controller Handle that supports `Follow Joint Trajectory Action `_ via an exported MoveIt *Controller Handle Allocator* plugin. +For example, see the stock Joint Trajectory Controller `plugin registration `_, which links several flavors of this controller exported from ``ros_controllers`` package with the corresponding MoveIt Controller Handle that supports `Follow Joint Trajectory Action `_ via an exported MoveIt *Controller Handle Allocator* plugin. The same pattern can be followed to link any other ROS controller that exposes a `Follow Joint Trajectory Action `_ server with an existing MoveIt *Controller Handle* so that it can receive trajectory commands. @@ -243,7 +243,7 @@ Reference this plugin description file in your package.xml's ``export`` section: After building the package, any controllers in ``ros_controllers.yaml`` that reference ``controller_package_name/controller_type_name`` will become available for use with MoveIt. -The *MoveIt ROS Control Controller Manager* can be configured by changing the ``moveit_controller_manager`` setting to ``ros_control``. The MoveIt configuration package auto-generated by MSA includes the `demo_gazebo.launch `_ file that already configures this manager type in addition to launching `Gazebo `_ simulation and visualizing the robot state in `RViz `_. +The *MoveIt ROS Control Controller Manager* can be configured by changing the ``moveit_controller_manager`` setting to ``ros_control``. The MoveIt configuration package auto-generated by MSA includes the `demo_gazebo.launch `_ file that already configures this manager type in addition to launching `Gazebo `_ simulation and visualizing the robot state in `RViz `_. To test ROS controller integration with *MoveIt ROS Control Controller Manager*, launch the package generated by MSA by using the ``demo_gazebo.launch`` file. This will load your robot description, start the motion planning pipeline hosted in ``move_group`` node, and enable you to use the `Motion Planning Plugin <../quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_ in RViz to send goals to MoveIt, simulating the effect your ROS controllers will have on the real robot in Gazebo. @@ -295,11 +295,11 @@ The following headers declare the relevant classes and macros: Two example *controller handle* implementations are included with MoveIt: -* `follow_joint_trajectory_controller_handle.h `_ implemented in the `corresponding .cpp file `_ +* `follow_joint_trajectory_controller_handle.h `_ implemented in the `corresponding .cpp file `_ -* `gripper_controller_handle.h `_ +* `gripper_controller_handle.h `_ -As you can see, writing a `controller handle `__ comes down to implementing: +As you can see, writing a `controller handle `__ comes down to implementing: * ``sendTrajectory`` method that translates `moveit_msgs::RobotTrajectory `_ to a format the controller can understand * ``cancelExecution`` method to tell the controller to stop any active trajectories @@ -308,7 +308,7 @@ As you can see, writing a `controller handle `_ +* `joint_trajectory_controller_plugin.cpp `_ The only job of a controller handle allocator is to create a new instance of the controller handle. The following example implements an allocator for a custom controller handle of type ``example::controller_handle_example`` (the code listing for this class is provided in the following section): diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst index f471cb69b..2da897104 100644 --- a/doc/getting_started/getting_started.rst +++ b/doc/getting_started/getting_started.rst @@ -36,7 +36,7 @@ To this end, follow the instructions below. However, building MoveIt from source Come back to this step, if building of your workspace fails due to unknown symbols! :: wstool init . - wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall + wstool merge -t . https://raw.githubusercontent.com/moveit/moveit/master/moveit.rosinstall wstool remove moveit_tutorials # this is cloned in the next section wstool update -t . @@ -48,8 +48,8 @@ To easily follow along with these tutorials, you will need a **ROBOT_moveit_conf Within your `catkin `_ workspace, download the tutorials as well as the ``panda_moveit_config`` package. You may safely ignore any :code:`git clone` errors saying the destination already exists: :: cd ~/ws_moveit/src - git clone https://github.com/ros-planning/moveit_tutorials.git -b master - git clone https://github.com/ros-planning/panda_moveit_config.git -b noetic-devel + git clone https://github.com/moveit/moveit_tutorials.git -b master + git clone https://github.com/moveit/panda_moveit_config.git -b noetic-devel .. note:: For now we will use a pre-generated ``panda_moveit_config`` package but later we will learn how to make our own in the `MoveIt Setup Assistant tutorial <../setup_assistant/setup_assistant_tutorial.html>`_. diff --git a/doc/hand_eye_calibration/hand_eye_calibration_tutorial.rst b/doc/hand_eye_calibration/hand_eye_calibration_tutorial.rst index ef6b1295e..2f4a6db93 100644 --- a/doc/hand_eye_calibration/hand_eye_calibration_tutorial.rst +++ b/doc/hand_eye_calibration/hand_eye_calibration_tutorial.rst @@ -1,6 +1,6 @@ Hand-Eye Calibration ==================== -The `MoveIt Calibration `_ package provides plugins and a graphical +The `MoveIt Calibration `_ package provides plugins and a graphical interface for conducting a hand-eye camera calibration. Calibrations can be performed for cameras rigidly mounted in the robot base frame (eye-to-hand) and for cameras mounted to the end effector (eye-in-hand). This tutorial presents the eye-in-hand case. @@ -24,7 +24,7 @@ Clone and Build the MoveIt Calibration Repo ------------------------------------------- In your workspace ``src`` directory, clone MoveIt Calibration:: - git clone git@github.com:ros-planning/moveit_calibration.git + git clone git@github.com:moveit/moveit_calibration.git Then, make sure you have the appropriate dependencies and build the package:: diff --git a/doc/ikfast/ikfast_tutorial.rst b/doc/ikfast/ikfast_tutorial.rst index 50ebd5282..07c5a6261 100644 --- a/doc/ikfast/ikfast_tutorial.rst +++ b/doc/ikfast/ikfast_tutorial.rst @@ -54,7 +54,7 @@ Install the MoveIt IKFast package either from Debian packages or from source. Inside your catkin workspace's ``./src`` directory: :: - git clone https://github.com/ros-planning/moveit.git + git clone https://github.com/moveit/moveit.git rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} catkin build diff --git a/doc/kinematics_configuration/kinematics_configuration_tutorial.rst b/doc/kinematics_configuration/kinematics_configuration_tutorial.rst index fb18bbce8..473fe3982 100644 --- a/doc/kinematics_configuration/kinematics_configuration_tutorial.rst +++ b/doc/kinematics_configuration/kinematics_configuration_tutorial.rst @@ -65,7 +65,7 @@ The cache size can be controlled with an absolute cap (``max_cache_size``) or wi - *cached_ik_kinematics_plugin/CachedTRACKinematicsPlugin*: a wrapper for the `TRAC IK solver `_. This solver is only available if the TRAC IK kinematics plugin is detected at compile time. - *cached_ik_kinematics_plugin/CachedUR5KinematicsPlugin*: a wrapper for the analytic IK solver for the UR5 arm (similar solvers exist for the UR3 and UR10). This is only for illustrative purposes; the caching just adds extra overhead to the solver. -See the `Cached IK README `_ for more information. +See the `Cached IK README `_ for more information. Position Only IK ---------------- diff --git a/doc/mesh_filter/mesh_filter_tutorial.rst b/doc/mesh_filter/mesh_filter_tutorial.rst index 4ebfca0ea..1817961e9 100644 --- a/doc/mesh_filter/mesh_filter_tutorial.rst +++ b/doc/mesh_filter/mesh_filter_tutorial.rst @@ -36,7 +36,7 @@ Topic ``/model/depth`` gives the points that overlap with the current robot stat .. image:: Model_Depth.png -Check out the mesh filter code `here `_ +Check out the mesh filter code `here `_ How to add sensor to arm in simulation diff --git a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp index c2c241ab9..d25532f0b 100644 --- a/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp +++ b/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp @@ -207,7 +207,7 @@ int main(int argc, char** argv) // We can set the goal of the plan using the name of a group states // for panda robot we have one named robot state for "panda_arm" planning group called "ready" // see `panda_arm.xacro - // `_ + // `_ /* // Set the start state of the plan from a named robot state */ /* planning_components->setStartState("ready"); // Not implemented yet */ diff --git a/doc/moveit_grasps/moveit_grasps_tutorial.rst b/doc/moveit_grasps/moveit_grasps_tutorial.rst index 828bdc4e9..4329adf38 100644 --- a/doc/moveit_grasps/moveit_grasps_tutorial.rst +++ b/doc/moveit_grasps/moveit_grasps_tutorial.rst @@ -20,10 +20,10 @@ Installing MoveIt Grasps Install From Source ^^^^^^^^^^^^^^^^^^^ -Clone the `moveit_grasps `_ repository into a `catkin workspace `_. For this tutorial we use Franka Emika's Panda robot setup from `panda_moveit_config `_:: +Clone the `moveit_grasps `_ repository into a `catkin workspace `_. For this tutorial we use Franka Emika's Panda robot setup from `panda_moveit_config `_:: cd ~/ws_moveit/src - git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_grasps.git + git clone -b $ROS_DISTRO-devel https://github.com/moveit/moveit_grasps.git Use the rosdep tool to automatically install its dependencies:: @@ -54,7 +54,7 @@ For running Demos using a suction gripper, specify the gripper when launching Rv roslaunch moveit_grasps rviz.launch gripper:=suction -**NOTE:** The released versions of `panda_moveit_config `_ may lag behind the source versions. If you have issues with the demos, a good first step would be to download and build `panda_moveit_config `_ from source. +**NOTE:** The released versions of `panda_moveit_config `_ may lag behind the source versions. If you have issues with the demos, a good first step would be to download and build `panda_moveit_config `_ from source. 1) The Entire MoveIt Grasps Pipeline ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -135,7 +135,7 @@ In addition, the *Grasp Generator* uses the following component: - *Grasp Scorer* supports a number of heuristics for judging which grasps are favorable, given known information about the problem / application -An example for generating, filtering and planning grasp motions can be found inside the file `src/grasp_pipeline_demo.cpp `_. Instructions for running are below. +An example for generating, filtering and planning grasp motions can be found inside the file `src/grasp_pipeline_demo.cpp `_. Instructions for running are below. Robot-Agnostic Configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -149,7 +149,7 @@ In addition to this tutorial, see the comments in the following example files fo **ROBOT_grasp_data.yaml** -The canonical example end effector configuration uses Franka Emika's Panda: `config_robot/panda_grasp_data.yaml `_. +The canonical example end effector configuration uses Franka Emika's Panda: `config_robot/panda_grasp_data.yaml `_. In that file you will find all of the gripper specific parameters necessary for customizing MoveIt Grasps with suction or finger grippers. @@ -171,13 +171,13 @@ Illustration diagrams for the parameters inside *ROBOT_grasp_data.yaml* file **moveit_grasps_config.yaml** -An example configuration file for the *Grasp Generator*, *Grasp Filter* and *Grasp Planner* can be found in `config/moveit_grasps_config.yaml `_. +An example configuration file for the *Grasp Generator*, *Grasp Filter* and *Grasp Planner* can be found in `config/moveit_grasps_config.yaml `_. Applying Robot-Agnostic Configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ To apply your yaml configurations, load them as rosparams with your grasping application / ROS node. -For an example, see the segment below from the file `launch/grasp_pipeline_demo.launch `_:: +For an example, see the segment below from the file `launch/grasp_pipeline_demo.launch `_:: diff --git a/doc/moveit_task_constructor/moveit_task_constructor_tutorial.rst b/doc/moveit_task_constructor/moveit_task_constructor_tutorial.rst index 652df646d..0029486ba 100644 --- a/doc/moveit_task_constructor/moveit_task_constructor_tutorial.rst +++ b/doc/moveit_task_constructor/moveit_task_constructor_tutorial.rst @@ -22,7 +22,7 @@ Install From Source Go into your catkin workspace and initialize wstool if necessary (assuming `~/ws_moveit` as workspace path): :: cd ~/ws_moveit/src - git clone https://github.com/ros-planning/moveit_task_constructor.git + git clone https://github.com/moveit/moveit_task_constructor.git Install missing packages with rosdep: :: diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 0a765bf58..19c2e6d29 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -13,7 +13,7 @@ Watch this `Quick YouTube video `_ Getting Started --------------- -If you haven't already done so, make sure you've completed the steps in `Getting Started `_. +If you haven't already done so, make sure you've completed the steps in `Getting Started `_. The steps of setting multiple arms environments to use MoveIt motion planning are as follows: @@ -156,7 +156,7 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``right_arm``, ``left_arm``, ``right_hand``, and ``left_hand``. +Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``right_arm``, ``left_arm``, ``right_hand``, and ``left_hand``. Here are two more steps which are not required but often useful: @@ -524,4 +524,4 @@ Step 5: Plan arms motions with MoveIt Move Group Interface. When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. This example uses a separate move group for every arm, but we can make a new move group that contains both the ``right_arm`` and ``left_arm`` groups to plan and execute motions for them simultaneously. -Refer to MoveIt tutorials to learn more about the `Move Group Interface `_. +Refer to MoveIt tutorials to learn more about the `Move Group Interface `_. diff --git a/doc/ompl_interface/ompl_interface_tutorial.rst b/doc/ompl_interface/ompl_interface_tutorial.rst index b5c60c06e..5ad98c800 100644 --- a/doc/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/ompl_interface/ompl_interface_tutorial.rst @@ -11,7 +11,7 @@ Here we review important configuration settings for OMPL. These settings can typ Longest Valid Segment Fraction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The ``longest_valid_segment_fraction`` defines the discretization of robot motions used for collision checking and greatly affects the performance and reliability of OMPL-based solutions. A ``motion`` in this context can be thought of as an edge between two nodes in a graph, where nodes are waypoints along a trajectory. The default motion collision checker in OMPL simply discretizes the edge into a number of sub-states to collision check. No continuous collision checking is currently available in OMPL/MoveIt, though this is an area of current `discussion `_. +The ``longest_valid_segment_fraction`` defines the discretization of robot motions used for collision checking and greatly affects the performance and reliability of OMPL-based solutions. A ``motion`` in this context can be thought of as an edge between two nodes in a graph, where nodes are waypoints along a trajectory. The default motion collision checker in OMPL simply discretizes the edge into a number of sub-states to collision check. No continuous collision checking is currently available in OMPL/MoveIt, though this is an area of current `discussion `_. Specifically, ``longest_valid_segment_fraction`` is the fraction of the robot's state space that, given the robot isn't currently in collision, we assume the robot can travel while remaining collision free. For example, if ``longest_valid_segment_fraction = 0.01``, then we assume that if an edge between two nodes is less than 1/100th of the state space, then we don't need to explicitly check any sub-states along that edge, just the two nodes it connects. @@ -21,7 +21,7 @@ If both ``longest_valid_segment_fraction`` and ``maximum_waypoint_distance`` are Set ``longest_valid_segment_fraction`` (or ``maximum_waypoint_distance``) too low, and collision checking / motion planning will be very slow. Set too high and collisions will be missed around small or narrow objects. In addition, a high collision checking resolution will cause the path smoothers to output incomprehensible motions because they are able to "catch" the invalid path and then attempt to repair them by sampling around it, but imperfectly. -A quick analysis of the effect of this parameter on two of the MoveIt tutorial examples is documented `here `_. +A quick analysis of the effect of this parameter on two of the MoveIt tutorial examples is documented `here `_. Projection Evaluator ^^^^^^^^^^^^^^^^^^^^ diff --git a/doc/persistent_scenes_and_states/persistent_scenes_and_states.rst b/doc/persistent_scenes_and_states/persistent_scenes_and_states.rst index 0c80b093b..1a4f03a85 100644 --- a/doc/persistent_scenes_and_states/persistent_scenes_and_states.rst +++ b/doc/persistent_scenes_and_states/persistent_scenes_and_states.rst @@ -4,10 +4,10 @@ Warehouse - Persistent Scenes and States The "MotionPlanning" plugin of RViz offers the possibility to save complete planning scenes and robot states persistently. Currently, two storage plugins (based on -`warehouse_ros `_) are available: +`warehouse_ros `_) are available: -* `warehouse_ros_mongo `_, which uses MongoDB as backend -* `warehouse_ros_sqlite `_, which uses SQLite as backend +* `warehouse_ros_mongo `_, which uses MongoDB as backend +* `warehouse_ros_sqlite `_, which uses SQLite as backend You can install both of them with your favourite package manager (e.g. ``apt-get install ros-noetic-warehouse-ros-mongo``) or diff --git a/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst b/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst index d16de54c8..bcd2fbe5d 100644 --- a/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst +++ b/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst @@ -295,7 +295,7 @@ defined at ``/robot_description_planning``. An example showing the cartesian limits which have to be defined can be found in `prbt_moveit_config -`_. +`_. Sequence of multiple segments ============================= @@ -329,7 +329,7 @@ the trajectory it would have taken without blending. :alt: blend figure Implementation details are available `as pdf -`_. +`_. Restrictions for ``MotionSequenceRequest`` ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ diff --git a/doc/planning_adapters/planning_adapters_tutorial.rst b/doc/planning_adapters/planning_adapters_tutorial.rst index 461f78b47..557e88b14 100644 --- a/doc/planning_adapters/planning_adapters_tutorial.rst +++ b/doc/planning_adapters/planning_adapters_tutorial.rst @@ -38,7 +38,7 @@ Running OMPL as a pre-processor for CHOMP Here, it is demonstrated that CHOMP can be used as a post-processing optimization technique for plans obtained by other planning algorithms. The intuition behind this is that some randomized planning algorithm produces an initial guess for CHOMP. CHOMP then takes this initial guess and further optimizes the trajectory. To achieve this, follow the steps: -#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: +#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and change it to: :: +#. Open the ``stomp_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is `this `_ file. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and change it to: :: +#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and add the following lines below it: :: +#. Open the ``chomp_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is `this file `_. Edit this launch file, find the lines where ```` is mentioned and add the following lines below it: :: diff --git a/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst b/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst index 0b2a7e680..c15bc47a3 100644 --- a/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst +++ b/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst @@ -120,7 +120,7 @@ Such a constraint is compactly defined like this:: Running the database generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch `_ +Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch `_ The file with the constraint definitions can be passed to the launch file:: diff --git a/doc/stomp_planner/stomp_planner_tutorial.rst b/doc/stomp_planner/stomp_planner_tutorial.rst index 1dca5ec04..ac73a97d9 100644 --- a/doc/stomp_planner/stomp_planner_tutorial.rst +++ b/doc/stomp_planner/stomp_planner_tutorial.rst @@ -44,9 +44,9 @@ Re-source the setup files: :: Using STOMP with Your Robot --------------------------- -**Note:** if you are following this demo using the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository, these steps are already done for you and you can skip steps 1-3 and you only need to do step 4. +**Note:** if you are following this demo using the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository, these steps are already done for you and you can skip steps 1-3 and you only need to do step 4. -#. Simply download `stomp_planning_pipeline.launch.xml `_ file into the launch directory of your MoveIt config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory. Place the file "*stomp_planning_pipeline.launch.xml*" file in the **launch** directory of your **moveit_config** package. **Note:** The latest version of MoveIt Setup Assistant will generate this launch file for you. The file should contain the following: :: +#. Simply download `stomp_planning_pipeline.launch.xml `_ file into the launch directory of your MoveIt config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory. Place the file "*stomp_planning_pipeline.launch.xml*" file in the **launch** directory of your **moveit_config** package. **Note:** The latest version of MoveIt Setup Assistant will generate this launch file for you. The file should contain the following: :: @@ -66,7 +66,7 @@ Using STOMP with Your Robot #. Adjust the line ```` to ```` replacing ```` with the name of your MoveIt configuration package. -#. Download `stomp_planning.yaml `_ file into the config directory of your MoveIt config package. In our case, we will save this file in the ``panda_moveit_config/config`` directory. Create the "*stomp_planning.yaml*" configuration file. This file contains the parameters required by STOMP. The parameters are specific to each ''planning group'' defined in the SRDF file. So if there are three planning groups, then the configuration file defines a specific set of parameters for each planning group. In our case there is only one planning group, i.e., the "panda_arm". +#. Download `stomp_planning.yaml `_ file into the config directory of your MoveIt config package. In our case, we will save this file in the ``panda_moveit_config/config`` directory. Create the "*stomp_planning.yaml*" configuration file. This file contains the parameters required by STOMP. The parameters are specific to each ''planning group'' defined in the SRDF file. So if there are three planning groups, then the configuration file defines a specific set of parameters for each planning group. In our case there is only one planning group, i.e., the "panda_arm". **>** *Save this file in the* **config** *directory of the moveit_config package*. Also make sure that the dimensionality of the `stddev` array parameter is the same as the number of joints present in the planning group name of your robot. This example is for a 7 DoF robot. Industrial robots will often have 5-6 DoF. **Check the DoF of your robot!** @@ -86,7 +86,7 @@ Using STOMP with Your Robot Running the Demo ---------------- -If you have the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository you should be able to simply run the demo: :: +If you have the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository you should be able to simply run the demo: :: roslaunch panda_moveit_config demo.launch @@ -114,7 +114,7 @@ Next, in RViz, select STOMP in the MotionPlanning panel under the Context tab. S Tweaking some of the parameters for STOMP ----------------------------------------- -STOMP has some parameters associated with it. These can be modified for the given environment/robot you are working with and is normally present in the `stomp_planning.yaml `_ file in config folder of the robot you are working with. If this file does not exist for your robot, you can create it and set the parameter values as you want. The following are the insights to set up these parameter values for some of them: +STOMP has some parameters associated with it. These can be modified for the given environment/robot you are working with and is normally present in the `stomp_planning.yaml `_ file in config folder of the robot you are working with. If this file does not exist for your robot, you can create it and set the parameter values as you want. The following are the insights to set up these parameter values for some of them: **Optimization Parameters**: diff --git a/doc/test_debugging/test_debugging_tutorial.rst b/doc/test_debugging/test_debugging_tutorial.rst index 81ca583e3..40cc45073 100644 --- a/doc/test_debugging/test_debugging_tutorial.rst +++ b/doc/test_debugging/test_debugging_tutorial.rst @@ -45,7 +45,7 @@ In this step we use git and wstool to get the code we will be testing. You'll r cd ${CATKIN_WS}/src wstool init . - git clone https://github.com/ros-planning/moveit.git -b master + git clone https://github.com/moveit/moveit.git -b master wstool merge -t . moveit/moveit.rosinstall wstool update diff --git a/doc/tests/tests_tutorial.rst b/doc/tests/tests_tutorial.rst index aa575cdc9..d660af018 100644 --- a/doc/tests/tests_tutorial.rst +++ b/doc/tests/tests_tutorial.rst @@ -41,13 +41,13 @@ Test Robots **Panda** -From the package `panda_moveit_config `_: :: +From the package `panda_moveit_config `_: :: roslaunch panda_moveit_config demo.launch **Fanuc M-10iA** -From the package `moveit_resources `_: :: +From the package `moveit_resources `_: :: roslaunch moveit_resources demo.launch diff --git a/doc/time_parameterization/time_parameterization_tutorial.rst b/doc/time_parameterization/time_parameterization_tutorial.rst index f3d6a0d07..f361b29bf 100644 --- a/doc/time_parameterization/time_parameterization_tutorial.rst +++ b/doc/time_parameterization/time_parameterization_tutorial.rst @@ -22,11 +22,11 @@ MoveIt can support different algorithms for post-processing a kinematic trajecto * :moveit_codedir:`Iterative Spline Parameterization` * :moveit_codedir:`Time-optimal Trajectory Generation` -The Iterative Parabolic Time Parameterization algorithm is used by default in the `Motion Planning Pipeline <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html>`_ as a Planning Request Adapter as documented in `this tutorial <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter>`_. Although the Iterative Parabolic Time Parameterization algorithm MoveIt uses has been used by hundreds of robots over the years, there is known `bug with it `_. +The Iterative Parabolic Time Parameterization algorithm is used by default in the `Motion Planning Pipeline <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html>`_ as a Planning Request Adapter as documented in `this tutorial <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter>`_. Although the Iterative Parabolic Time Parameterization algorithm MoveIt uses has been used by hundreds of robots over the years, there is known `bug with it `_. -The Iterative Spline Parameterization algorithm was merged with `PR 382 `_ as an approach to deal with these issues. While preliminary experiments are very promising, we are waiting for more feedback from the community before replacing the Iterative Parabolic Time Parameterization algorithm completely. +The Iterative Spline Parameterization algorithm was merged with `PR 382 `_ as an approach to deal with these issues. While preliminary experiments are very promising, we are waiting for more feedback from the community before replacing the Iterative Parabolic Time Parameterization algorithm completely. -Time-optimal Trajectory Generation introduced in PRs `#809 `_ and `#1365 `_ produces trajectories with very smooth and continuous velocity profiles. The method is based on fitting path segments to the original trajectory and then sampling new waypoints from the optimized path. This is different from strict time parameterization methods as resulting waypoints may divert from the original trajectory within a certain tolerance. As a consequence, additional collision checks might be required when using this method. +Time-optimal Trajectory Generation introduced in PRs `#809 `_ and `#1365 `_ produces trajectories with very smooth and continuous velocity profiles. The method is based on fitting path segments to the original trajectory and then sampling new waypoints from the optimized path. This is different from strict time parameterization methods as resulting waypoints may divert from the original trajectory within a certain tolerance. As a consequence, additional collision checks might be required when using this method. Jerk-Limited Trajectory Smoothing --------------------------------- diff --git a/doc/trajopt_planner/trajopt_planner_tutorial.rst b/doc/trajopt_planner/trajopt_planner_tutorial.rst index a6c619c39..5aa0a7f1a 100644 --- a/doc/trajopt_planner/trajopt_planner_tutorial.rst +++ b/doc/trajopt_planner/trajopt_planner_tutorial.rst @@ -39,15 +39,15 @@ Prerequisites -------------- To use TrajOpt with your robot you must already have a MoveIt configuration package for your robot. For example, if you have a Panda robot, it's called ``panda_moveit_config``. This is typically configured using the `MoveIt Setup Assistant <../setup_assistant/setup_assistant_tutorial.html>`_. -**Note:** in this tutorial, we use ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository which contains the necessary config files for trajopt planner. +**Note:** in this tutorial, we use ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository which contains the necessary config files for trajopt planner. Running the Demo ---------------- -To run the example, you need to run ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository at first by passing ``trajopt`` as the planner: :: +To run the example, you need to run ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository at first by passing ``trajopt`` as the planner: :: roslaunch panda_moveit_config demo.launch pipeline:=trajopt -Then you can run the trajopt example from `ros-planning/moveit_tutorials `_: :: +Then you can run the trajopt example from `moveit/moveit_tutorials `_: :: roslaunch moveit_tutorials trajopt_example_launch.launch diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst index 87a031b51..981db57b6 100644 --- a/doc/urdf_srdf/urdf_srdf_tutorial.rst +++ b/doc/urdf_srdf/urdf_srdf_tutorial.rst @@ -25,7 +25,7 @@ We hope to be able to get rid of these restrictions on the joint names soon. Special Characters in Link Names """"""""""""""""""""""""""""""""" Link names should not contain any of the following characters: ``-``, ``[``, ``]``, ``(``, ``)``. -Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes `_). We suggest to use ``_``, ``:``, or ``\`` instead. +Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes `_). We suggest to use ``_``, ``:``, or ``\`` instead. Safety Limits """"""""""""" diff --git a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp b/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp index 17e5dfcf4..ab5cb54d1 100644 --- a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp +++ b/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp @@ -124,7 +124,7 @@ void computeCollisionContactPoints(InteractiveRobot& robot) // iterate through **c_res.contacts** which is a std::map of contact points. // Look at the implementation of getCollisionMarkersFromContacts() in // `collision_tools.cpp - // `_ + // `_ // for how. if (c_res.collision) { diff --git a/htmlproofer.sh b/htmlproofer.sh index 53d5c7d81..d30a0169a 100755 --- a/htmlproofer.sh +++ b/htmlproofer.sh @@ -21,7 +21,7 @@ sphinx-build -W -b html . native_build rosdoc_lite -o build . # Run HTML tests on generated build output to check for 404 errors, etc -URL_SWAP="--url-swap https\://github.com/ros-planning/moveit_tutorials/blob/master/:file\://$PWD/build/html/" +URL_SWAP="--url-swap https\://github.com/moveit/moveit_tutorials/blob/master/:file\://$PWD/build/html/" htmlproofer ./build --only-4xx --check-html --file-ignore ./build/html/genindex.html,./build/html/search.html --alt-ignore '/.*/' --url-ignore '#' $URL_SWAP # Tell GitHub Pages (on deploy) to bypass Jekyll processing diff --git a/package.xml b/package.xml index 260a5629a..a2ab873e4 100644 --- a/package.xml +++ b/package.xml @@ -12,9 +12,9 @@ Dave Coleman Mike Lautman - https://ros-planning.github.io/moveit_tutorials - https://github.com/ros-planning/moveit_tutorials - https://github.com/ros-planning/moveit_tutorials/issues + https://moveit.github.io/moveit_tutorials + https://github.com/moveit/moveit_tutorials + https://github.com/moveit/moveit_tutorials/issues catkin