diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml index 69631d17ef..f953262f58 100644 --- a/.github/workflows/deploy.yml +++ b/.github/workflows/deploy.yml @@ -34,7 +34,7 @@ jobs: - uses: ruby/setup-ruby@v1 with: - ruby-version: '2.7' + ruby-version: '3' - name: Run htmlproofer.sh run: ./htmlproofer.sh diff --git a/conf.py b/conf.py index 06d52f4dd5..60c53ea848 100644 --- a/conf.py +++ b/conf.py @@ -58,7 +58,7 @@ # # This is also used if you do content translation via gettext catalogs. # Usually you set "language" from the command line for these cases. -language = None +language = "en" # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. diff --git a/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst b/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst index 2d1fe8b570..8f99a571ed 100644 --- a/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst +++ b/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 `_ +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 `. The file with the constraint definitions can be passed to the launch file:: diff --git a/doc/examples/stomp_planner/stomp_planner_tutorial.rst b/doc/examples/stomp_planner/stomp_planner_tutorial.rst index c331b99e58..e50fec7ff6 100644 --- a/doc/examples/stomp_planner/stomp_planner_tutorial.rst +++ b/doc/examples/stomp_planner/stomp_planner_tutorial.rst @@ -88,23 +88,15 @@ If you have the ``panda_moveit_config`` from the `ros-planning/panda_moveit_conf Running STOMP with Obstacles in the Scene +++++++++++++++++++++++++++++++++++++++++ -To run STOMP in an environment with obstacles, you can run the sample python script: - - :codedir:`collision_scene_example.py`. - -This scripts creates a cluttered scene with four ostacles or a simple scene with one obstacle depending on the argument given to the script. One can also change the position/size of the obstacles to change the scene. +To add obstacles to the scene, we can use :codedir:`this node` to create a scene with obstacles. To run the STOMP planner with obstacles, open two terminals. In the first terminal start RViz and wait for everything to finish loading: :: roslaunch panda_moveit_config demo_stomp.launch -In the second terminal, run either of the two commands: :: - - rosrun moveit_tutorials collision_scene_example.py cluttered - -or: :: +In the second terminal, run the command: :: - rosrun moveit_tutorials collision_scene_example.py sparse + ros2 run moveit2_tutorials collision_scene_example Next, in RViz, select STOMP in the MotionPlanning panel under the Context tab. Set the desired start and goal states by moving the end-effector around with the imarker and then click on the Plan button under the Planning tab in the MotionPlanning panel to start planning. The planner will now attempt to find a feasible solution between the given start and end position. STOMP performs better than CHOMP in avoiding obstacles. This is due to STOMP's stochastic nature which produces non-jerky trajectories as opposed to CHOMP which often produces jerky paths to avoid obstacles. diff --git a/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp b/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp index 1a592ba9f1..fcdc8754e1 100644 --- a/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp +++ b/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp @@ -166,7 +166,7 @@ int main(int argc, char** argv) // // Initializing the Planning Scene and Markers // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // For this tutorial we use an :codedir:`InteractiveRobot ` + // For this tutorial we use an :codedir:`InteractiveRobot ` // object as a wrapper that combines a robot_model with the cube and an interactive marker. We also // create a PlanningScene for collision checking. If you haven't already gone through the // :doc:`planning scene tutorial `, you go through that first. diff --git a/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst b/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst index 9c401b427a..2a8365f307 100644 --- a/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst +++ b/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst @@ -20,7 +20,7 @@ Using CHOMP with Your Robot --------------------------- **Note:** If you plan to use the ``panda_moveit_config`` package from the `ros-planning/moveit_resources `_ repository, these steps are already done for you and you can skip this section. Otherwise, to add the configuration for your robot you must: -#. Create a :codedir:`chomp_demo.launch.py` file in the launch directory for your MoveIt config package. +#. Create a :codedir:`chomp_demo.launch.py` file in the launch directory for your MoveIt config package. #. Modify all references to Panda in ``chomp_demo.launch.py`` to point to your custom configuration instead #. Ensure you have included a :moveit_resources_codedir:`chomp_planning.yaml ` file in the config directory of your MoveIt config package. #. Open ``chomp_planning.yaml`` in your favorite editor and change ``animate_endeffector_segment: "panda_rightfinger"`` to the appropriate link for your robot. Feel free to modify any parameters you think may better suit your needs. diff --git a/requirements.txt b/requirements.txt index 1c8e8a3735..163e9dd054 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,7 +1,7 @@ pip -docutils==0.16 -sphinx==4.3.2 -sphinx-tabs +docutils==0.18.1 +sphinx>=5.0.0 +sphinx-tabs==3.4.4 sphinx-multiversion sphinx-rtd-theme sphinx-copybutton