Fix broken URLs in tutorials docs (#798)

doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -124,7 +124,7 @@ 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 <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/launch/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 :moveit_codedir:`generate_state_database.launch <moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`.
 
 The file with the constraint definitions can be passed to the launch file::
 

doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst

@@ -56,19 +56,19 @@ updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_har
     </xacro:if>
 
 In this tutorial we have included a Python script that loads a Panda robot
-and builds an `OmniGraph <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_gui_omnigraph.html>`_
+and builds an `OmniGraph <https://docs.omniverse.nvidia.com/isaacsim/latest/gui_tutorials/tutorial_gui_omnigraph.html>`_
 to publish and subscribe to the ROS topics used to control the robot.
 The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda.
 The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``.
 The frame ID of the camera frame is ``/sim_camera``.
 To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the
-`Joint Control tutorial <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_ros2_manipulation.html>`_
+`Joint Control tutorial <https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
 on Omniverse.
 
 Computer Setup
 --------------
 
-1. Install `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/install_workstation.html>`_.
+1. Install `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`_.
 
 2. Perform a shallow clone of the MoveIt2 Tutorials repo.
 

doc/tutorials/getting_started/getting_started.rst

@@ -49,6 +49,8 @@ Install `vcstool <https://index.ros.org/d/python3-vcstool/>`_ : ::
 
   sudo apt install python3-vcstool
 
+.. _create_colcon_workspace:
+
 Create A Colcon Workspace and Download Tutorials
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 For tutorials you will need to have a :ros_documentation:`colcon <Tutorials/Colcon-Tutorial.html#install-colcon>` workspace setup. ::
@@ -106,6 +108,8 @@ Optional: add the previous command to your ``.bashrc``: ::
    not required and often skipped by advanced users who use more than one
    Colcon workspace at a time, but we recommend it for simplicity.
 
+.. _cyclone_dds:
+
 Switch to Cyclone DDS
 ^^^^^^^^^^^^^^^^^^^^^
 

doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst

@@ -7,7 +7,9 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and
 
 Getting Started
 ---------------
-If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. If you followed the Docker Guide, also follow the second part of the Getting Started tutorial (from :ref:`Create a Colcon Workspace and Download Tutorials <doc/tutorials/getting_started/getting_started.html:create a colcon workspace and download tutorials>` onwards) to set up the tutorials. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
+If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
+If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials.
+As of Sep 26, 2022, ensure you have :ref:`enabled Cyclone DDS <cyclone_dds>`.
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------