Update URLs after migration to moveit org (#901)

Commands used: fgrep -rl ros-planning/ | xargs -n1 sed -i 's@ros-planning/@moveit/@g' fgrep -rl 'ros-planning.' | xargs -n1 sed -i 's@ros-planning\.@moveit.@g' --------- Co-authored-by: Sebastian Jahr <[email protected]>
moveit · Jun 7, 2024 · 99b4203 · 99b4203
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diff --git a/.docker/docker-compose.yml b/.docker/docker-compose.yml
@@ -6,7 +6,7 @@
 
 services:
   cpu:
-    image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
+    image: ghcr.io/moveit/moveit2_tutorials:$DOCKER_IMAGE
     container_name: moveit2_container
     privileged: true
     network_mode: host
@@ -18,7 +18,7 @@ services:
       QT_X11_NO_MITSHM: 1
       DISPLAY: $DISPLAY
   gpu:
-    image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
+    image: ghcr.io/moveit/moveit2_tutorials:$DOCKER_IMAGE
     container_name: moveit2_container
     privileged: true
     network_mode: host

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -4,6 +4,6 @@ Please explain the changes you made, including a reference to the related issue
 
 ### Checklist
 - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
-- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers
 
 [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"
diff --git a/.github/upstream.repos b/.github/upstream.repos
@@ -1,11 +1,11 @@
 repositories:
   moveit_task_constructor:
     type: git
-    url: https://github.com/ros-planning/moveit_task_constructor.git
+    url: https://github.com/moveit/moveit_task_constructor.git
     version: ros2
   moveit_visual_tools:
     type: git
-    url: https://github.com/ros-planning/moveit_visual_tools
+    url: https://github.com/moveit/moveit_visual_tools
     version: ros2
   rosparam_shortcuts:
     type: git

diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
@@ -144,12 +144,12 @@ jobs:
 
     - name: Upload pages artifact
       uses: actions/upload-pages-artifact@v3
-      if: github.repository_owner == 'ros-planning'
+      if: github.repository_owner == 'moveit'
       with:
         path: build/html
 
   deploy:
-    if: github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/main'
+    if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/main'
     runs-on: ubuntu-latest
     needs: collate_site_artifacts
     environment:

diff --git a/Makefile b/Makefile
@@ -17,7 +17,7 @@ local-with-api: Makefile
 	@echo Building local with API
 	@echo Step 1 of 2: Clone MoveIt 2 and build API using selected distro
 	mkdir -p build/html
-	cd build/html && if cd moveit2; then git pull; else git clone https://github.com/ros-planning/moveit2 -b $(MOVEIT_BRANCH) --depth 1 && cd moveit2; fi && \
+	cd build/html && if cd moveit2; then git pull; else git clone https://github.com/moveit/moveit2 -b $(MOVEIT_BRANCH) --depth 1 && cd moveit2; fi && \
 		sed -i "s/HTML_EXTRA_STYLESHEET  =.*/HTML_EXTRA_STYLESHEET  = ..\/..\/..\/theme.css/g" Doxyfile && DOXYGEN_OUTPUT_DIRECTORY="../api" doxygen &&  cd .. && rm -rf moveit2
 	@echo Step 2 of 2: Building html
 	make html
@@ -28,7 +28,7 @@ generate_api_artifacts: Makefile
 	@echo Step 1 of 3: Ensure build folder exists
 	mkdir -p build/html
 	@echo Step 2 of 3: generate CPP API Artifacts
-	cd build/html && if cd moveit2; then git pull; else git clone https://github.com/ros-planning/moveit2 -b $(BRANCH) --depth 1 && cd moveit2; fi && \
+	cd build/html && if cd moveit2; then git pull; else git clone https://github.com/moveit/moveit2 -b $(BRANCH) --depth 1 && cd moveit2; fi && \
 	sed -i "s/HTML_EXTRA_STYLESHEET  =.*/HTML_EXTRA_STYLESHEET  = ..\/..\/..\/theme.css/g" Doxyfile && DOXYGEN_OUTPUT_DIRECTORY="../api" doxygen &&  cd .. && rm -rf moveit2
 	@echo Step 3 of 3: Build Sphinx Artifacts
 	make html

diff --git a/README.md b/README.md
@@ -6,14 +6,14 @@ This is the primary documentation for the MoveIt project.
 
 This repository is built and deployed automatically by GitHub Actions:
 
-- **Rolling** (main): [![CI](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Amain) [![Format](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Amain) [![Deploy](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Amain)
-- **Humble**: [![CI](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Ahumble) [![Format](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Ahumble) [![Deploy](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Ahumble)
+- **Rolling** (main): [![CI](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Amain) [![Format](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Amain) [![Deploy](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Amain)
+- **Humble**: [![CI](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Ahumble) [![Format](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Ahumble) [![Deploy](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Ahumble)
 
 ## Contributing
 
 We strongly encourage you to help improve MoveIt's documentation. Please consider helping improve the tutorials, port old ones from ROS 1, and write new tutorials. We recommend you read the quality standards below as well as the [How to Write a MoveIt Tutorial](https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_write_tutorials.html) page.
 
-If you find an issue with the tutorials you are not able to fix yourself, please [open an issue on GitHub](https://github.com/ros-planning/moveit2_tutorials/issues/new) or open a PR with proposed changes.
+If you find an issue with the tutorials you are not able to fix yourself, please [open an issue on GitHub](https://github.com/moveit/moveit2_tutorials/issues/new) or open a PR with proposed changes.
 
 ## Helping with Porting Tutorials to ROS 2
 
@@ -37,7 +37,7 @@ Open a command line to your colcon workspace:
 
 Download the MoveIt Tutorials source code:
 
-    git clone https://github.com/ros-planning/moveit2_tutorials.git
+    git clone https://github.com/moveit/moveit2_tutorials.git
     vcs import < moveit2_tutorials/moveit2_tutorials.repos
     rosdep install -r --from-paths . --ignore-src --rosdistro rolling -y
 

diff --git a/conf.py b/conf.py
@@ -120,7 +120,7 @@
 
 html_context = {
     "display_github": True,
-    "github_user": "ros-planning",
+    "github_user": "moveit",
     "github_repo": "moveit2_tutorials",
     "github_version": "main/",
     "conf_py_path": "",

diff --git a/doc/concepts/moveit_task_constructor/connecting_stages.rst b/doc/concepts/moveit_task_constructor/connecting_stages.rst
@@ -31,7 +31,7 @@ Connect
      -
      - Default is TOTG (Time-Optimal Trajectory Generation). Information about TOTG is available in the :ref:`Time Parameterization tutorial <doc/examples/time_parameterization/time_parameterization_tutorial:Time Parameterization Algorithms>`
 
-`API doc for Connect <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1Connect.html>`_.
+`API doc for Connect <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1Connect.html>`_.
 
 Code Example
 

diff --git a/doc/concepts/moveit_task_constructor/generating_stages.rst b/doc/concepts/moveit_task_constructor/generating_stages.rst
@@ -25,7 +25,7 @@ Example code
 
   auto current_state = std::make_unique<moveit::task_constructor::stages::CurrentState>("current_state");
 
-`API doc for CurrentState <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1CurrentState.html>`_.
+`API doc for CurrentState <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1CurrentState.html>`_.
 
 FixedState
 ----------
@@ -49,7 +49,7 @@ FixedState
   auto initial = std::make_unique<stages::FixedState>();
   initial->setState(scene);
 
-`API doc for FixedState <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1FixedState.html>`_.
+`API doc for FixedState <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1FixedState.html>`_.
 
 Monitoring Generators
 ---------------------
@@ -96,7 +96,7 @@ GenerateGraspPose
      - Grasp pose
 
 Refer the API docs for the latest state of code.
-`API doc for GenerateGraspPose <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GenerateGraspPose.html>`_.
+`API doc for GenerateGraspPose <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GenerateGraspPose.html>`_.
 
 Example code
 
@@ -136,7 +136,7 @@ Example code
   stage->setPose(p);
   stage->setMonitoredStage(pick_stage_ptr);  // hook into successful pick solutions
 
-`API doc for GeneratePlacePose <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GeneratePlacePose.html>`_.
+`API doc for GeneratePlacePose <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GeneratePlacePose.html>`_.
 
 
 GenerateRandomPose

diff --git a/doc/concepts/moveit_task_constructor/propagating_stages.rst b/doc/concepts/moveit_task_constructor/propagating_stages.rst
@@ -44,7 +44,7 @@ Example code to enable collision
   auto stage = std::make_unique<stages::ModifyPlanningScene>("Allow collision between object and gripper");
   stage->allowCollisions("object_name", "gripper_frame_name", true);
 
-`API doc for ModifyPlanningScene <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ModifyPlanningScene.html>`_.
+`API doc for ModifyPlanningScene <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ModifyPlanningScene.html>`_.
 
 MoveRelative
 ------------
@@ -86,7 +86,7 @@ MoveRelative
      - void setDirection(std::map<std::string, double> direction)
      - Move specified joint variables by given amount
 
-`API doc for MoveRelative <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveRelative.html>`_.
+`API doc for MoveRelative <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveRelative.html>`_.
 
 Example code
 
@@ -150,7 +150,7 @@ MoveTo
      - void setPathConstraints(moveit_msgs:::Constraints path_constaints)
      - Constraints to maintain during trajectory
 
-`API doc for MoveTo <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveTo.html>`_.
+`API doc for MoveTo <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveTo.html>`_.
 
 Example code
 

diff --git a/doc/concepts/moveit_task_constructor/wrappers.rst b/doc/concepts/moveit_task_constructor/wrappers.rst
@@ -42,7 +42,7 @@ The ``ComputeIK`` is a wrapper for any pose generator stage to compute the inver
      - void setMinSolutionDistance(double distance)
      - Minimum distance between separate IK solutions for the same target. Default is 0.1.
 
-`API doc for ComputeIK <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ComputeIK.html>`_.
+`API doc for ComputeIK <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ComputeIK.html>`_.
 
 Code Example
 
@@ -78,7 +78,7 @@ PredicateFilter
      - void setIgnoreFilter(bool ignore)
      - Ignore predicate and forward all solutions
 
-`API doc for PredicateFilter <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1PredicateFilter.html>`_.
+`API doc for PredicateFilter <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1PredicateFilter.html>`_.
 
 Code Example
 

diff --git a/doc/examples/controller_configuration/controller_configuration_tutorial.rst b/doc/examples/controller_configuration/controller_configuration_tutorial.rst
@@ -2,17 +2,17 @@ Low Level Controllers
 =====================
 MoveIt typically publishes manipulator motion commands to a `JointTrajectoryController <https://github.com/ros-controls/ros2_controllers/tree/master/joint_trajectory_controller>`_. This tutorial assumes MoveGroup is being used to control the robot rather than MoveItCpp or MoveIt Servo. A minimal setup is as follows:
 
-#. A YAML config file. As best practice, we suggest naming this :code:`moveit_controllers.yaml`. It tells MoveIt which controllers are available, which joints are associated with each, and the MoveIt controller interface type (:code:`FollowJointTrajectory` or :code:`GripperCommand`). `Example controller config file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/moveit_controllers.yaml>`_.
+#. A YAML config file. As best practice, we suggest naming this :code:`moveit_controllers.yaml`. It tells MoveIt which controllers are available, which joints are associated with each, and the MoveIt controller interface type (:code:`FollowJointTrajectory` or :code:`GripperCommand`). `Example controller config file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/config/moveit_controllers.yaml>`_.
 
-#. A launch file. This launch file must load the :code:`moveit_controllers` yaml file and specify the :code:`moveit_simple_controller_manager/MoveItSimpleControllerManager`. After these yaml files are loaded, they are passed as parameters to the Move Group node. `Example Move Group launch file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
+#. A launch file. This launch file must load the :code:`moveit_controllers` yaml file and specify the :code:`moveit_simple_controller_manager/MoveItSimpleControllerManager`. After these yaml files are loaded, they are passed as parameters to the Move Group node. `Example Move Group launch file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
 
 #. Launch the corresponding :code:`ros2_control` JointTrajectoryControllers. This is separate from the MoveIt 2 ecosystem. `Example ros2_control launching <https://github.com/ros-controls/ros2_control_demos>`_. Each JointTrajectoryController provides an action interface. Given the yaml file above, MoveIt automatically connects to this action interface.
 
 #. Note: it is not required to use :code:`ros2_control` for your robot. You could write a proprietary action interface. In practice, 99% of users choose :code:`ros2_control`.
 
 MoveIt Controller Managers
 --------------------------
-The base class of controller managers is called MoveItControllerManager (MICM). One of the child classes of MICM is known as Ros2ControlManager (R2CM) and it is the best way to interface with ros2_control. The R2CM can parse the joint names in a trajectory command coming from MoveIt and activate the appropriate controllers. For example, it can automatically switch between controlling two manipulators in a single joint group at once to a single manipulator. To use a R2CM, just set :code:`moveit_manage_controllers = true` in the launch file. `Example R2CM launch file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
+The base class of controller managers is called MoveItControllerManager (MICM). One of the child classes of MICM is known as Ros2ControlManager (R2CM) and it is the best way to interface with ros2_control. The R2CM can parse the joint names in a trajectory command coming from MoveIt and activate the appropriate controllers. For example, it can automatically switch between controlling two manipulators in a single joint group at once to a single manipulator. To use a R2CM, just set :code:`moveit_manage_controllers = true` in the launch file. `Example R2CM launch file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
 
 MoveIt Controller Interfaces
 ----------------------------

diff --git a/doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.rst b/doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.rst
@@ -5,7 +5,7 @@
 
 Hand-Eye Calibration
 ====================
-The `MoveIt Calibration <http://www.github.com/ros-planning/moveit_calibration>`_ package provides plugins and a graphical
+The `MoveIt Calibration <http://www.github.com/moveit/moveit_calibration>`_ package provides plugins and a graphical
 interface for conducting a hand-eye camera calibration. Calibrations can be performed for cameras rigidly mounted in the
 robot base frame (eye-to-hand) and for cameras mounted to the end effector (eye-in-hand). This tutorial presents the
 eye-in-hand case.
@@ -28,7 +28,7 @@ Clone and Build the MoveIt Calibration Repo
 -------------------------------------------
 In your workspace ``src`` directory, clone MoveIt Calibration::
 
-  git clone [email protected]:ros-planning/moveit_calibration.git
+  git clone [email protected]:moveit/moveit_calibration.git
 
 Then, make sure you have the appropriate dependencies and build the package::
 

diff --git a/doc/examples/ikfast/ikfast_tutorial.rst b/doc/examples/ikfast/ikfast_tutorial.rst
@@ -57,7 +57,7 @@ Install the MoveIt IKFast package either from Debian packages or from source.
 
 Inside your catkin workspace's ``./src`` directory: ::
 
- git clone https://github.com/ros-planning/moveit.git
+ git clone https://github.com/moveit/moveit.git
  rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
  catkin build
 

diff --git a/doc/examples/jupyter_notebook_prototyping/src/moveit_notebook_tutorial.ipynb b/doc/examples/jupyter_notebook_prototyping/src/moveit_notebook_tutorial.ipynb
@@ -15,7 +15,7 @@
     "* A motion planning example\n",
     "* A teleoperation example\n",
     "\n",
-    "If you have suggestions or feedback for this tutorial please post an issue on GitHub (https://github.com/ros-planning/moveit2_tutorials) and tag @peterdavidfagan."
+    "If you have suggestions or feedback for this tutorial please post an issue on GitHub (https://github.com/moveit/moveit2_tutorials) and tag @peterdavidfagan."
    ]
   },
   {

diff --git a/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.rst b/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.rst
@@ -70,7 +70,7 @@ The cache size can be controlled with an absolute cap (``max_cache_size``) or wi
 - *cached_ik_kinematics_plugin/CachedTRACKinematicsPlugin*: a wrapper for the `TRAC IK solver <https://bitbucket.org/traclabs/trac_ik>`_. This solver is only available if the TRAC IK kinematics plugin is detected at compile time.
 - *cached_ik_kinematics_plugin/CachedUR5KinematicsPlugin*: a wrapper for the analytic IK solver for the UR5 arm (similar solvers exist for the UR3 and UR10). This is only for illustrative purposes; the caching just adds extra overhead to the solver.
 
-See the `Cached IK README <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/cached_ik_kinematics_plugin/README.md>`_ for more information.
+See the `Cached IK README <https://github.com/moveit/moveit/blob/master/moveit_kinematics/cached_ik_kinematics_plugin/README.md>`_ for more information.
 
 Position Only IK
 ----------------

diff --git a/doc/examples/mobile_base_arm/mobile_base_arm_tutorial.rst b/doc/examples/mobile_base_arm/mobile_base_arm_tutorial.rst
@@ -80,7 +80,7 @@ This's used to config the planar joint model, it can have two values:
 min_translational_distance
 ++++++++++++++++++++++++++
 
-If the distance between two states is less than ``min_translational_distance`` the motion will be pure rotation, the default value is ``1e-5``, for more info see `computeTurnDriveTurnGeometry <https://github.com/ros-planning/moveit2/blob/main/moveit_core/robot_model/src/planar_joint_model.cpp#L149>`_ for why this's needed
+If the distance between two states is less than ``min_translational_distance`` the motion will be pure rotation, the default value is ``1e-5``, for more info see `computeTurnDriveTurnGeometry <https://github.com/moveit/moveit2/blob/main/moveit_core/robot_model/src/planar_joint_model.cpp#L149>`_ for why this's needed
 
 .. code-block:: xml