Merge branch 'main' into main

.github/workflows/deploy.yml

@@ -85,7 +85,7 @@ jobs:
       run: tar cvzf artifact.tar.gz --directory=build/html .
 
     - name: Upload HTML Artifact
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: '${{ matrix.branch }}_html_artifacts'
         path: artifact.tar.gz
@@ -117,7 +117,7 @@ jobs:
 
     # TODO (peterdavidfagan): don't hardcode branches for downloads
     - name: Download Rolling Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4
       with:
         name: main_html_artifacts
         path: .
@@ -129,7 +129,7 @@ jobs:
         rm artifact.tar.gz
 
     - name: Download Humble Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4
       with:
         name: humble_html_artifacts
         path: .

doc/tutorials/getting_started/getting_started.rst

@@ -59,7 +59,7 @@ For tutorials you will need to have a :ros_documentation:`colcon <Tutorials/Colc
 
 Download Source Code of MoveIt and the Tutorials
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Move into your Colcon workspace and pull the MoveIt tutorials source: ::
+Move into your Colcon workspace and pull the MoveIt tutorials source, where ``<branch>`` can be e.g. ``humble`` for ROS Humble, or ``main`` for the latest version of the tutorials : ::
 
   cd ~/ws_moveit/src
   git clone https://github.com/moveit/moveit2_tutorials
@@ -73,6 +73,10 @@ You can just press Enter until it moves on (ignore the "Authentication failed" e
 
 Build your Colcon Workspace
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+First remove all previously installed moveit binaries: ::
+
+  sudo apt remove ros-$ROS_DISTRO-moveit*
+
 The following will install from Debian any package dependencies not already in your workspace.
 This is the step that will install MoveIt and all of its dependencies: ::
 
@@ -89,7 +93,7 @@ This build command will likely take a long time (20+ minutes) depending on your
 .. warning::
   Some of the packages built with this command require up to 16Gb of RAM to build. By default, ``colcon``  tries to build as many packages as possible at the same time.
   If you are low on computer memory, or if the build is generally having trouble completing on your computer,
-  you can try appending ``--executor sequential`` to the ``colcon`` command above to build only one package at a time, or ``--parallel-workers <X>`` to limit the number of simultaneous builds.
+  you can try appending ``--executor sequential`` to the ``colcon`` command above to build only one package at a time, or ``--parallel-workers <X>`` to limit the number of simultaneous builds. For even more limited machines, you can try running ``MAKEFLAGS="-j4 -l1" colcon build --executor sequential``.
 
 If everything goes well, you should see the message "Summary: X packages finished" where X might be 50. If you have problems, try re-checking your `ROS Installation <https://docs.ros.org/en/rolling/Installation.html>`_.