Merge branch 'main' into dependabot/github_actions/actions/download-a…

…rtifact-3
moveit · Sep 19, 2023 · 34e8b07 · 34e8b07
2 parents 3a515fe + dd73bd2
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diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -32,7 +32,7 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
 
 # Remove the hello_world tutorial cpp file and replace it with the planning_around_objects file
 RUN rm src/hello_moveit/src/hello_moveit.cpp
-COPY ./doc/tutorials/planning_around_objects/hello_moveit.cpp src/hello_moveit/src/hello_moveit.cpp
+COPY ./doc/tutorials/planning_around_objects/hello_moveit_kinova.cpp src/hello_moveit/src/hello_moveit.cpp
 
 ######################### Pick and Place (MTC) Image  #########################################
 

diff --git a/.dockerignore b/.dockerignore
@@ -1,4 +1,10 @@
-_scripts/
-_static/
-_templates/
-.docker/
+__pycache__
+**/.git
+**/.github
+**/_scripts
+**/_static
+**/_templates
+**/build
+**/.vscode
+*.md
+*.rst
diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
@@ -56,6 +56,8 @@ jobs:
       image: ${{ matrix.container }}
     steps:
     - uses: actions/checkout@v3
+      with:
+        ref: 'main'
 
     - name: Install Python dependencies
       run: |
@@ -89,6 +91,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         fetch-depth: 0
+        ref: 'main'
 
     - uses: actions/setup-python@v4
       with:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,16 +58,20 @@ add_subdirectory(doc/examples/motion_planning_pipeline)
 add_subdirectory(doc/examples/motion_planning_python_api)
 add_subdirectory(doc/examples/move_group_interface)
 add_subdirectory(doc/examples/moveit_cpp)
-add_subdirectory(doc/examples/persistent_scenes_and_states)
-add_subdirectory(doc/examples/pilz_industrial_motion_planner)
-add_subdirectory(doc/examples/planning_scene_ros_api)
 add_subdirectory(doc/examples/planning_scene)
+add_subdirectory(doc/examples/planning_scene_ros_api)
 add_subdirectory(doc/examples/realtime_servo)
 add_subdirectory(doc/examples/robot_model_and_robot_state)
-add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
+add_subdirectory(doc/how_to_guides/isaac_panda)
+add_subdirectory(doc/how_to_guides/kinematics_cost_function)
 add_subdirectory(doc/how_to_guides/parallel_planning)
+add_subdirectory(doc/how_to_guides/chomp_planner)
+add_subdirectory(doc/how_to_guides/persistent_scenes_and_states)
+add_subdirectory(doc/how_to_guides/pilz_industrial_motion_planner)
+add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
 add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 add_subdirectory(doc/tutorials/quickstart_in_rviz)
+add_subdirectory(doc/how_to_guides/pick_ik)
 
 ament_export_dependencies(
   ${THIS_PACKAGE_INCLUDE_DEPENDS}

diff --git a/Makefile b/Makefile
@@ -11,7 +11,7 @@ help:
 
 multiversion: Makefile
 	sphinx-multiversion $(OPTS) "$(SOURCE)" build/html
-	@echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=humble/index.html\" /></head></html>" > build/html/index.html
+	@echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=main/index.html\" /></head></html>" > build/html/index.html
 
 local-with-api: Makefile
 	@echo Building local with API

diff --git a/_static/images/logo.png b/_static/images/logo.png
diff --git a/_static/images/rolling-small.png b/_static/images/rolling-small.png
diff --git a/_static/videos/rviz_joints_nullspace.webm b/_static/videos/rviz_joints_nullspace.webm
diff --git a/_templates/page.html b/_templates/page.html
@@ -13,13 +13,8 @@
       <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
 
       {% elif current_version.is_released %}
-      You're reading the documentation for an older, but still supported, version of MoveIt 2.
-      For information on the recommended stable version, please have a look at
-      <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
-
-      {% else %}
-      You're reading the documentation for the non-stable development version of MoveIt 2.
-      For the stable, released version, please have a look at
+      You're reading the documentation for a stable version of MoveIt that is not being developed further.
+      For information on the recommended version, please have a look at
       <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
       {% endif %}
   </p>

diff --git a/_templates/versions.html b/_templates/versions.html
diff --git a/conf.py b/conf.py
@@ -134,8 +134,8 @@
 # smv_tag_whitelist = None
 
 smv_branch_whitelist = r"^(main|humble)$"
-smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(humble).*$"
-smv_latest_version = "humble"
+smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(main|humble).*$"
+smv_latest_version = "main"
 smv_eol_versions = []
 smv_remote_whitelist = r"^(origin|upstream)$"
 smv_prefer_remote_refs = True

diff --git a/doc/concepts/hybrid_planning/hybrid_planning.rst b/doc/concepts/hybrid_planning/hybrid_planning.rst
@@ -27,7 +27,7 @@ The local planner is running continuously during execution and produces iterativ
 
 In order to enable solving these local problems the local planner must be fast, able to react to sensor feedback and in many cases real-time safe. Also, it should be deterministic in order to avoid jerky or unpredictable motions.
 
-In general, the local planner relies on the reference trajectory produced by the global planner so that it doesn’t get stuck in a local minima. Since local minima sometimes still can’t be ruled out, it can be required that the global planner is triggered for a replan in order to still reach the desired goal. This behavior requires a certain way to communicate planner events and to process them accordingly. For that purpose the Hybrid Planning architecture allows implementing an event-based logic that can be customized for the specific use case and planner types.
+In general, the local planner relies on the reference trajectory produced by the global planner so that it doesn’t get stuck in a local minimum. Since local minima sometimes still can’t be ruled out, it can be required that the global planner is triggered for a replan in order to still reach the desired goal. This behavior requires a certain way to communicate planner events and to process them accordingly. For that purpose the Hybrid Planning architecture allows implementing an event-based logic that can be customized for the specific use case and planner types.
 
 +-------------------------------------------+-------------------------------------------+
 | Global Planner                            | Local Planner                             |
@@ -108,7 +108,7 @@ Global Planner
    :width: 500px
    :align: center
 
-The Global Planner is the simplest component of the architecture. It provides an action server which processes GlobalPlanner requests which include the common MotionPlanRequests which are processed by the Global Planner plugin. By default, this is simply MoveIt’s planning pipeline, but any kind of planner or even MTC could technically be used here. The planning result is reported using the action feedback and the solution trajectory is published to the Local Planner for further processing.
+The Global Planner is the simplest component of the architecture. It provides an action server that processes GlobalPlanner requests. These requests include common MotionPlanRequests, which are processed by the Global Planner plugin. By default, this is simply MoveIt’s planning pipeline, but any kind of planner or even MTC could technically be used here. The planning result is reported using the action feedback and the solution trajectory is published to the Local Planner for further processing.
 
 
 Local Planner

diff --git a/doc/concepts/kinematics.rst b/doc/concepts/kinematics.rst
@@ -34,6 +34,6 @@ Allowed Collision Matrix (ACM)
 
 Collision checking is a very expensive operation often accounting for close to 90% of the computational expense during motion planning.
 The ``Allowed Collision Matrix`` or ``ACM`` encodes a binary value corresponding to the need to check for collision between pairs of bodies (which could be on the robot or in the world).
-If the value corresponding to two bodies is set to ``true`` in the ACM, it specifies that a collision check between the two bodies is either not required or wanted.
+If the value corresponding to two bodies is set to ``true`` in the ACM, no collision check between the two bodies will be performed.
 The collision checking would not be required if, e.g., the two bodies are always so far away that they can never collide with each other.
 Alternatively, the two bodies could be in contact with each other by default, in which case the collision detection should be disabled for the pair in the ACM.