diff --git a/doc/benchmarking/benchmarking_tutorial.rst b/doc/benchmarking/benchmarking_tutorial.rst index 44695debb2..f598c6e9f2 100644 --- a/doc/benchmarking/benchmarking_tutorial.rst +++ b/doc/benchmarking/benchmarking_tutorial.rst @@ -10,13 +10,12 @@ The example below demonstrates how the benchmarking can be run for a Fanuc M-10i Example ------- - An example is provided in the ``examples`` folder. The launch file requires a MoveIt! configuration package for the Fanuc M-10iA available from `here `_. To run: -#. Launch the Fanuc M-10iA ``demo.launch``:: +#. Launch the Fanuc M-10iA ``demo.launch``: :: roslaunch moveit_resources demo.launch db:=true @@ -31,7 +30,7 @@ To run: rosed moveit_ros_benchmarks demo_fanuc.launch -#. Run the benchmarks:: +#. Run the benchmarks: :: roslaunch moveit_ros_benchmarks demo_fanuc.launch @@ -41,11 +40,11 @@ Viewing Results The benchmarks are executed and many interesting parameters are aggregated and written to a logfile. A script (``moveit_benchmark_statistics.py``) is supplied to parse this data and plot the statistics. -Run:: +Run: :: rosrun moveit_ros_benchmarks moveit_benchmark_statistics.py -To generate a PDF of plots:: +To generate a PDF of plots: :: python -p moveit_benchmark_statistics.py @@ -55,7 +54,7 @@ Alternatively, upload the database file generated by ``moveit_benchmark_statisti Parameters of the BenchmarkOptions Class ---------------------------------------- -This class reads in parameters and options for the benchmarks to run from the ROS parameter server. The format of the parameters is assumed to be in the following form:: +This class reads in parameters and options for the benchmarks to run from the ROS parameter server. The format of the parameters is assumed to be in the following form: :: benchmark_config: diff --git a/doc/chomp_interface/chomp_interface_tutorial.rst b/doc/chomp_interface/chomp_interface_tutorial.rst index 03bb5dab60..47085ada95 100644 --- a/doc/chomp_interface/chomp_interface_tutorial.rst +++ b/doc/chomp_interface/chomp_interface_tutorial.rst @@ -27,7 +27,7 @@ Using CHOMP with your own robot 2. Adjust the line to 3. Download `chomp_planning.yaml `_ file into the config directory of your moveit config package. So into the *jaco_moveit_config/config* directory. 4. Copy the *demo.launch* file to *demo_chomp.launch*. Note that this file is also in the launch directory of the *jaco_moveit_config* package. -5. Find the lines where *move_group.launch* is included and change it to:: +5. Find the lines where *move_group.launch* is included and change it to: :: diff --git a/doc/collision_contact/collision_contact_tutorial.rst b/doc/collision_contact/collision_contact_tutorial.rst index d35fbe73be..f00a8a0eaa 100644 --- a/doc/collision_contact/collision_contact_tutorial.rst +++ b/doc/collision_contact/collision_contact_tutorial.rst @@ -8,11 +8,11 @@ If you haven't already done so, make sure you've completed the steps in `Getting Running the Code ---------------- -Make sure you have sourced the setup files:: +Make sure you have sourced the setup files: :: source ~/ws_moveit/devel/setup.bash -Roslaunch the launch file to run the code directly from moveit_tutorials:: +Roslaunch the launch file to run the code directly from moveit_tutorials: :: roslaunch moveit_tutorials collision_contact_tutorial.launch diff --git a/doc/controller_configuration/controller_configuration_tutorial.rst b/doc/controller_configuration/controller_configuration_tutorial.rst index 047d383567..75a1e9e77f 100644 --- a/doc/controller_configuration/controller_configuration_tutorial.rst +++ b/doc/controller_configuration/controller_configuration_tutorial.rst @@ -4,7 +4,7 @@ In this section, we will walk through configuring MoveIt! with the controllers o YAML Configuration ------------------ -The first file to create is a YAML configuration file (call it ``controllers.yaml`` and place it in the ``ROBOT_moveit_config/config`` directory of your MoveIt! robot config package). This will specify the controller configuration for your robot. Here's an example file for configuring a ``FollowJointTrajectory`` action controller for the ``panda_arm`` and a ``GripperCommand`` gripper controller for its ``hand``:: +The first file to create is a YAML configuration file (call it ``controllers.yaml`` and place it in the ``robot_moveit_config/config`` directory of your MoveIt! robot config package). This will specify the controller configuration for your robot. Here's an example file for configuring a ``FollowJointTrajectory`` action controller for the ``panda_arm`` and a ``GripperCommand`` gripper controller for its ``hand``: :: controller_list: - name: panda_arm_controller @@ -53,7 +53,7 @@ Create the Controller launch file --------------------------------- Now, create the controller launch file (call it ``robot_moveit_controller_manager.launch.xml`` where ``robot`` is the name of your robot as specified when you created your MoveIt! robot config package). -Add the following lines to this file :: +Add the following lines to this file: :: @@ -83,7 +83,7 @@ You should also be able to see (using ``rostopic info topic_name``) that the top Remapping /joint_states topic ----------------------------- -When you run a `move group node <../move_group_interface/move_group_interface_tutorial.html>`_, you may need to remap the topic /joint_states to /robot/joint_states, otherwise MoveIt! won't have feedback from the joints. To do this remapping you could make a simple launch file for your node as follows :: +When you run a `move group node <../move_group_interface/move_group_interface_tutorial.html>`_, you may need to remap the topic /joint_states to /robot/joint_states, otherwise MoveIt! won't have feedback from the joints. To do this remapping you could make a simple launch file for your node as follows: :: diff --git a/doc/custom_constraint_samplers/custom_constraint_samplers_tutorial.rst b/doc/custom_constraint_samplers/custom_constraint_samplers_tutorial.rst index 48de4bcf60..815e9d2b4c 100644 --- a/doc/custom_constraint_samplers/custom_constraint_samplers_tutorial.rst +++ b/doc/custom_constraint_samplers/custom_constraint_samplers_tutorial.rst @@ -20,6 +20,7 @@ Creating a constraint sampler * In your ROBOT_moveit_config/launch/move_group.launch file, within the , add the parameter: +:: * Now when you launch move_group, it should default to your new constraint sampler. diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst index 1100f86c56..3b27f6cd72 100644 --- a/doc/getting_started/getting_started.rst +++ b/doc/getting_started/getting_started.rst @@ -1,26 +1,24 @@ Getting Started =============== + Install ROS and Catkin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ `Install ROS Kinetic `_. It is easy to miss steps when going through the ROS installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS correctly. -Once you have ROS installed, make sure you have the most up to date packages: -:: +Once you have ROS installed, make sure you have the most up to date packages: :: rosdep update sudo apt-get update sudo apt-get dist-upgrade -Install `catkin `_ the ROS build system: -:: +Install `catkin `_ the ROS build system: :: sudo apt-get install ros-kinetic-catkin python-catkin-tools Install MoveIt! ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The simplest way to install MoveIt! is from pre-built binaries (Debian): -:: +The simplest way to install MoveIt! is from pre-built binaries (Debian): :: sudo apt install ros-kinetic-moveit @@ -28,49 +26,42 @@ Advanced users might want to `install MoveIt! from source `_ workspace setup: -:: +You will need to have a `catkin `_ workspace setup: :: mkdir -p ~/ws_moveit/src Download the Example Code ^^^^^^^^^^^^^^^^^^^^^^^^^ -Within your `catkin `_ workspace, download these tutorials: -:: +Within your `catkin `_ workspace, download these tutorials: :: cd ~/ws_moveit/src git clone https://github.com/PickNikRobotics/moveit_tutorials.git -You will also need a ``panda_moveit_config`` package to follow along with these tutorials. For now we will install from Debian but later we will learn how to make our own ``robot_moveit_config`` in the `MoveIt! Setup Assistant tutorial. <../setup_assistant/setup_assistant_tutorial.html>`_: -:: +You will also need a ``panda_moveit_config`` package to follow along with these tutorials. For now we will install from Debian but later we will learn how to make our own ``robot_moveit_config`` in the `MoveIt! Setup Assistant tutorial. <../setup_assistant/setup_assistant_tutorial.html>`_: :: sudo apt install ros-kinetic-panda-moveit-config Build your Catkin Workspace ^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The following will attempt to install from Debian any package dependencies not already in your workspace: -:: +The following will attempt to install from Debian any package dependencies not already in your workspace: :: cd ~/ws_moveit/src rosdep install -y --from-paths . --ignore-src --rosdistro kinetic -The next command will configure your catkin workspace: -:: +The next command will configure your catkin workspace: :: cd ~/ws_moveit catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build -Source the catkin workspace: -:: +Source the catkin workspace: :: source ~/ws_moveit/devel/setup.bash -Optional: If you are only working on one catkin workspace at a time, you may want to add the previous command to your ``.bashrc``: -:: +Optional: If you are only working on one catkin workspace at a time, you may want to add the previous command to your ``.bashrc``: :: echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc Next Step ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -`Visualize a robot with the interactive motion planning plugin for RViz <../visualization/visualization_tutorial.html>`_ \ No newline at end of file +`Visualize a robot with the interactive motion planning plugin for RViz <../visualization/visualization_tutorial.html>`_ diff --git a/doc/ikfast/ikfast_tutorial.rst b/doc/ikfast/ikfast_tutorial.rst index 769fa626d7..dda8bb6bab 100644 --- a/doc/ikfast/ikfast_tutorial.rst +++ b/doc/ikfast/ikfast_tutorial.rst @@ -26,15 +26,15 @@ Installing OpenRAVE on Ubuntu 16.04 is tricky. Here are 2 blog posts that give s * `Stéphane Caron's Installing OpenRAVE on Ubuntu 16.04 `_ * `Francisco Suárez-Ruiz's Robotics Workstation Setup in Ubuntu 16.04 `_ -Make sure you have these programs installed:: +Make sure you have these programs installed: :: sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy qt4-dev-tools -You may also need the followng libraries:: +You may also need the followng libraries: :: sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev -To enable the OpenRAVE viewer you may also need to install OpenSceneGraph-3.4 from source:: +To enable the OpenRAVE viewer you may also need to install OpenSceneGraph-3.4 from source: :: sudo apt-get install libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev git clone https://github.com/openscenegraph/OpenSceneGraph.git --branch OpenSceneGraph-3.4 @@ -44,11 +44,11 @@ To enable the OpenRAVE viewer you may also need to install OpenSceneGraph-3.4 fr make -j$(nproc) sudo make install -For IkFast to work correctly, you *must* have the correct version of sympy installed:: +For IkFast to work correctly, you *must* have the correct version of sympy installed: :: pip install --upgrade --user sympy==0.7.1 -You should *not* have mpmath installed:: +You should *not* have mpmath installed: :: sudo apt remove python-mpmath @@ -56,28 +56,28 @@ MoveIt! IKFast Installation --------------------------- Install the MoveIt! IKFast package either from debs or from source. -**Binary Install** :: +**Binary Install**: :: sudo apt-get install ros-kinetic-moveit-kinematics **Source** -Inside your catkin workspace :: +Inside your catkin workspace: :: git clone https://github.com/ros-planning/moveit.git OpenRAVE Installation ---------------------- -**Binary Install (only Indigo / Ubuntu 14.04)**:: +**Binary Install (only Indigo / Ubuntu 14.04)**: :: sudo apt-get install ros-indigo-openrave -Note: you have to set:: +Note: you have to set: :: export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir` -**Source Install** :: +**Source Install**: :: git clone --branch latest_stable https://github.com/rdiankov/openrave.git cd openrave && mkdir build && cd build @@ -101,7 +101,7 @@ Parameters * *MOVEIT_IK_PLUGIN_PKG* - name of the new package you just created * *IKFAST_OUTPUT_PATH* - file path to the location of your generated IKFast output.cpp file -To make using this tutorial copy/paste friendly, set a MYROBOT_NAME environment variable with the name of your robot:: +To make using this tutorial copy/paste friendly, set a MYROBOT_NAME environment variable with the name of your robot: :: export MYROBOT_NAME="panda_arm" @@ -109,15 +109,15 @@ First you will need robot description file that is in `Collada or OpenRAVE `_ file. -If your robot is in `xacro `_ format you can convert it to urdf using the following command:: +If your robot is in `xacro `_ format you can convert it to urdf using the following command: :: rosrun xacro xacro --inorder -o "$MYROBOT_NAME".urdf "$MYROBOT_NAME".urdf.xacro -Once you have your robot in URDF format, you can convert it to Collada (.dae) file using the following command:: +Once you have your robot in URDF format, you can convert it to Collada (.dae) file using the following command: :: rosrun collada_urdf urdf_to_collada "$MYROBOT_NAME".urdf "$MYROBOT_NAME".dae -Often floating point issues arrise in converting a URDF file to Collada file, so a script has been created to round all the numbers down to x decimal places in your .dae file. Its probably best if you skip this step initially and see if IKFast can generate a solution with your default values, but if the generator takes longer than, say, an hour, try the following:: +Often floating point issues arrise in converting a URDF file to Collada file, so a script has been created to round all the numbers down to x decimal places in your .dae file. Its probably best if you skip this step initially and see if IKFast can generate a solution with your default values, but if the generator takes longer than, say, an hour, try the following: :: export IKFAST_PRECISION="5" cp "$MYROBOT_NAME".dae "$MYROBOT_NAME".bakup.dae # create a backup of your full precision dae. @@ -127,13 +127,13 @@ From experience we recommend 5 decimal places, but if the OpenRAVE ikfast genera To see the links in your newly generated Collada file -You may need to install package **libsoqt4-dev** to have the display working:: +You may need to install package **libsoqt4-dev** to have the display working: :: openrave-robot.py "$MYROBOT_NAME".dae --info links This is useful if you have a 7-dof arm and you need to fill in a --freeindex parameter, discussed later. -To test your newly generated Collada file in OpenRAVE:: +To test your newly generated Collada file in OpenRAVE: :: openrave "$MYROBOT_NAME".dae @@ -152,7 +152,7 @@ You need to choose which sort of IK you want. See `this page that you will create a plugin for. Once you have verified that the plugin works, repeat the following instructions for any other planning groups you have. For example, you might have 2 planning groups:: +If your robot has more than one arm or "planning group" that you want to generate an IKFast solution for, choose one to generate first. The following instructions will assume you have chosen one that you will create a plugin for. Once you have verified that the plugin works, repeat the following instructions for any other planning groups you have. For example, you might have 2 planning groups: :: = "left_arm" = "right_arm" @@ -163,7 +163,7 @@ To make it easy to use copy/paste for the rest of this tutorial. Set a PLANNING_ Identify Link Numbers ^^^^^^^^^^^^^^^^^^^^^ -You also need the link index numbers for the *base_link* and *end_link* between which the IK will be calculated. You can count the number of links by viewing a list of links in your model:: +You also need the link index numbers for the *base_link* and *end_link* between which the IK will be calculated. You can count the number of links by viewing a list of links in your model: :: openrave-robot.py "$MYROBOT_NAME".dae --info links @@ -197,15 +197,15 @@ If you have a 7 DOF arm you will need ot specify a free link:: Generate IK Solver ^^^^^^^^^^^^^^^^^^ -To generate the IK solution between the manipulator's base and tool frames for a 6 dof arm, use the following command format. We recommend you name the output ikfast61\_"$PLANNING_GROUP".cpp :: +To generate the IK solution between the manipulator's base and tool frames for a 6 dof arm, use the following command format. We recommend you name the output ikfast61\_"$PLANNING_GROUP".cpp: :: export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp -For a 6 dof arm:: +For a 6 dof arm: :: python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH" -For a 7 dof arm, you will need to specify a free link:: +For a 7 dof arm, you will need to specify a free link: :: python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --freeindex="$FREE_INDEX" --savefile="$IKFAST_OUTPUT_PATH" @@ -220,31 +220,31 @@ You should consult the OpenRAVE mailing list and ROS Answers for information abo Create Plugin ------------- -Create the package that will contain the IK plugin. We recommend you name the package "$MYROBOT_NAME"_ikfast_"$PLANNING_GROUP"_plugin. :: +Create the package that will contain the IK plugin. We recommend you name the package "$MYROBOT_NAME"_ikfast_"$PLANNING_GROUP"_plugin.: :: export MOVEIT_IK_PLUGIN_PKG="$MYROBOT_NAME"_ikfast_"$PLANNING_GROUP"_plugin cd ~/catkin_ws/src catkin_create_pkg "$MOVEIT_IK_PLUGIN_PKG" -Build your workspace so the new package is detected (can be 'roscd'):: +Build your workspace so the new package is detected (can be 'roscd'): :: catkin build -Create the plugin source code:: +Create the plugin source code: :: rosrun moveit_kinematics create_ikfast_moveit_plugin.py "$MYROBOT_NAME" "$PLANNING_GROUP" "$MOVEIT_IK_PLUGIN_PKG" "$IKFAST_OUTPUT_PATH" -Or without ROS:: +Or without ROS: :: python /path/to/create_ikfast_moveit_plugin.py "$MYROBOT_NAME" "$PLANNING_GROUP" "$MOVEIT_IK_PLUGIN_PKG" "$IKFAST_OUTPUT_PATH" Usage ----- -The IKFast plugin should function identically to the default KDL IK Solver, but with greatly increased performance. The MoveIt configuration file is automatically edited by the moveit_ikfast script but you can switch between the KDL and IKFast solvers using the *kinematics_solver* parameter in the robot's kinematics.yaml file :: +The IKFast plugin should function identically to the default KDL IK Solver, but with greatly increased performance. The MoveIt configuration file is automatically edited by the moveit_ikfast script but you can switch between the KDL and IKFast solvers using the *kinematics_solver* parameter in the robot's kinematics.yaml file: :: rosed "$MYROBOT_NAME"_moveit_config/config/kinematics.yaml -Edit these parts:: +Edit these parts: :: : kinematics_solver: __kinematics/IKFastKinematicsPlugin diff --git a/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.rst b/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.rst index 3e19b5b103..c9a70595fb 100644 --- a/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.rst +++ b/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.rst @@ -10,17 +10,17 @@ Run Startup regular MoveIt! planning node with Rviz (for example demo.launch) -Make sure you have the dependencies installed:: +Make sure you have the dependencies installed: :: sudo apt-get install ros-kinetic-joy In the Motion Planning plugin of Rviz, enable "Allow External Comm." checkbox in the "Planning" tab. Enable the 'Query Goal State' robot display in the MoveIt! Motion Planning Plugins's 'Planning Request' section. -Now launch the joystick control launch file specific to your robot. If you are missing this file, first re-run the MoveIt! Setup Assistant using the latest version of the Setup Assistant:: +Now launch the joystick control launch file specific to your robot. If you are missing this file, first re-run the MoveIt! Setup Assistant using the latest version of the Setup Assistant: :: roslaunch ROBOT_moveit_config joystick_control.launch -The script defaults to using ``/dev/input/js0`` for your game controller port. To customize, you can also use, for example:: +The script defaults to using ``/dev/input/js0`` for your game controller port. To customize, you can also use, for example: :: roslaunch ROBOT_moveit_config joystick_control.launch dev:=/dev/input/js1 diff --git a/doc/kinematic_model/kinematic_model_tutorial.rst b/doc/kinematic_model/kinematic_model_tutorial.rst index 9d8fbd75ff..aa20a0602d 100644 --- a/doc/kinematic_model/kinematic_model_tutorial.rst +++ b/doc/kinematic_model/kinematic_model_tutorial.rst @@ -40,7 +40,7 @@ Expected Output --------------- The expected output will be in the following form. The numbers will not match since we are using random joint values -**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post. `_ :: +**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post `_: :: ros.moveit_tutorials: Model frame: /panda_link0 ros.moveit_tutorials: Joint panda_joint1: 0.000000 diff --git a/doc/kinematics_configuration/kinematics_configuration_tutorial.rst b/doc/kinematics_configuration/kinematics_configuration_tutorial.rst index 1c23b12e10..7f97b8dab2 100644 --- a/doc/kinematics_configuration/kinematics_configuration_tutorial.rst +++ b/doc/kinematics_configuration/kinematics_configuration_tutorial.rst @@ -6,7 +6,7 @@ In this section, we will examine some of the parameters for configuring kinemati The kinematics.yaml file ------------------------ -The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the `panda_moveit_config Github project `_ :: +The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the `panda_moveit_config Github project `_: :: panda_arm: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin @@ -41,6 +41,6 @@ The LMA (Levenberg-Marquardt) kinematics plugin also wraps around a numerical in Position Only IK ---------------- -Position only IK can easily be enabled (only if you are using the KDL Kinematics Plugin) by adding the following line to your kinematics.yaml file (for the particular group that you want to solve IK for):: +Position only IK can easily be enabled (only if you are using the KDL Kinematics Plugin) by adding the following line to your kinematics.yaml file (for the particular group that you want to solve IK for): :: position_only_ik: True diff --git a/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst b/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst index 93f18b1635..0bcb1feab3 100644 --- a/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst +++ b/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst @@ -26,11 +26,11 @@ The entire launch file is :codedir:`here `_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic `_. :: +We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file `_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic `_: :: sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater @@ -43,7 +43,7 @@ We will have to generate a YAML configuration file for configuring the 3D sensor YAML Configuration file (Depth Map) ----------------------------------- -We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images `_ can be found in the `panda_moveit_config repo `_ as well :: +We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images `_ can be found in the `panda_moveit_config repo `_ as well: :: sensors: - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater @@ -84,7 +84,7 @@ Update the launch file Add the YAML file to the launch script ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt! to use:: +You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt! to use: :: @@ -92,7 +92,7 @@ Note that you will need to input the path to the right file you have created abo Octomap Configuration ^^^^^^^^^^^^^^^^^^^^^ -You will also need to configure the `Octomap `_ by adding the following lines into the *sensor_manager.launch*:: +You will also need to configure the `Octomap `_ by adding the following lines into the *sensor_manager.launch*: :: diff --git a/doc/planning_scene/planning_scene_tutorial.rst b/doc/planning_scene/planning_scene_tutorial.rst index ebc9b7475a..0c24385da1 100644 --- a/doc/planning_scene/planning_scene_tutorial.rst +++ b/doc/planning_scene/planning_scene_tutorial.rst @@ -21,11 +21,11 @@ The entire launch file is :codedir:`here `_ \ No newline at end of file +**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post `_. \ No newline at end of file diff --git a/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst b/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst index f05ef48a42..86520753a4 100644 --- a/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst +++ b/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst @@ -13,15 +13,15 @@ If you haven't already done so, make sure you've completed the steps in `Getting Running the code ---------------- -Open two shells and make sure you have re-sourced the setup files in both of them:: +Open two shells and make sure you have re-sourced the setup files in both of them: :: source ~/ws_moveit/devel/setup.bash -In the first shell start Rviz and wait for everything to finish loading:: +In the first shell start Rviz and wait for everything to finish loading: :: roslaunch panda_moveit_config demo.launch -In the second shell, run the launch file for this demo:: +In the second shell, run the launch file for this demo: :: roslaunch moveit_tutorials planning_scene_ros_api_tutorial.launch diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst index 432a475b85..2b8ab7e68a 100644 --- a/doc/setup_assistant/setup_assistant_tutorial.rst +++ b/doc/setup_assistant/setup_assistant_tutorial.rst @@ -21,15 +21,14 @@ MoveIt! and ROS first if you have not already done that. * If you haven't already done so, make sure you have the `franka description - package `_ - for kinetic.:: + package `_ for Kinetic: :: sudo apt-get install ros-kinetic-franka-description Step 1: Start --------------- -* To start the MoveIt! Setup Assistant:: +* To start the MoveIt! Setup Assistant: :: roslaunch moveit_setup_assistant setup_assistant.launch diff --git a/doc/tests/tests_tutorial.rst b/doc/tests/tests_tutorial.rst index 9d0f78e546..589acb7273 100644 --- a/doc/tests/tests_tutorial.rst +++ b/doc/tests/tests_tutorial.rst @@ -11,7 +11,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting Integration Test ---------------- -A Python-based integration test is available for testing higher-level move_group functionality in MoveIt! - to run :: +A Python-based integration test is available for testing higher-level move_group functionality in MoveIt! - to run: :: rostest moveit_ros_planning_interface python_move_group.test @@ -20,20 +20,20 @@ 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 Unit Tests ---------- -To run unit tests locally on the entire MoveIt! catkin workspace using catkin-tools:: +To run unit tests locally on the entire MoveIt! catkin workspace using catkin-tools: :: catkin run_tests -iv @@ -44,4 +44,4 @@ To run a test for just 1 package:: Kinematic Tests --------------- -An additional test suite for the KinematicBase features in MoveIt! is available in the package `moveit_kinematic_tests `_ +An additional test suite for the KinematicBase features in MoveIt! is available in the package `moveit_kinematic_tests `_. diff --git a/doc/trac_ik/trac_ik_tutorial.rst b/doc/trac_ik/trac_ik_tutorial.rst index 2275d6e5b9..ba72f31704 100644 --- a/doc/trac_ik/trac_ik_tutorial.rst +++ b/doc/trac_ik/trac_ik_tutorial.rst @@ -10,7 +10,7 @@ The package `trac_ik_kinematics_plugin diff --git a/doc/visualization/visualization_tutorial.rst b/doc/visualization/visualization_tutorial.rst index 40d28e9a03..9737079d93 100644 --- a/doc/visualization/visualization_tutorial.rst +++ b/doc/visualization/visualization_tutorial.rst @@ -10,7 +10,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting Step 1: Launch the demo and Configure the Plugin ------------------------------------------------ -* Launch the demo:: +* Launch the demo: :: roslaunch panda_moveit_config demo.launch