diff --git a/.docker/docker-compose.yml b/.docker/docker-compose.yml index 9c4e76a955..406ee7e9d0 100644 --- 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 index a9e9241fa0..c26c0c5c20 100644 --- 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 index bb6d462e3b..f09982304c 100644 --- 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 index 45ad8e6e25..aee6089dbc 100644 --- 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 index b5bbc03a19..7c56bc797d 100644 --- 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 index 6d88a34f89..d84a4ca3da 100644 --- 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 index 2ca1a9ad12..050417c0f9 100644 --- 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 index d5ed85d37a..be2826fd30 100644 --- 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 ` -`API doc for Connect `_. +`API doc for Connect `_. Code Example diff --git a/doc/concepts/moveit_task_constructor/generating_stages.rst b/doc/concepts/moveit_task_constructor/generating_stages.rst index 6c1f090e37..03f2793a00 100644 --- 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("current_state"); -`API doc for CurrentState `_. +`API doc for CurrentState `_. FixedState ---------- @@ -49,7 +49,7 @@ FixedState auto initial = std::make_unique(); initial->setState(scene); -`API doc for FixedState `_. +`API doc for FixedState `_. Monitoring Generators --------------------- @@ -96,7 +96,7 @@ GenerateGraspPose - Grasp pose Refer the API docs for the latest state of code. -`API doc for GenerateGraspPose `_. +`API doc for GenerateGraspPose `_. 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 `_. +`API doc for GeneratePlacePose `_. GenerateRandomPose diff --git a/doc/concepts/moveit_task_constructor/propagating_stages.rst b/doc/concepts/moveit_task_constructor/propagating_stages.rst index 7934a2d00b..fcbbcc2cee 100644 --- 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("Allow collision between object and gripper"); stage->allowCollisions("object_name", "gripper_frame_name", true); -`API doc for ModifyPlanningScene `_. +`API doc for ModifyPlanningScene `_. MoveRelative ------------ @@ -86,7 +86,7 @@ MoveRelative - void setDirection(std::map direction) - Move specified joint variables by given amount -`API doc for MoveRelative `_. +`API doc for MoveRelative `_. Example code @@ -150,7 +150,7 @@ MoveTo - void setPathConstraints(moveit_msgs:::Constraints path_constaints) - Constraints to maintain during trajectory -`API doc for MoveTo `_. +`API doc for MoveTo `_. Example code diff --git a/doc/concepts/moveit_task_constructor/wrappers.rst b/doc/concepts/moveit_task_constructor/wrappers.rst index 1ccc1a25c9..53fde7c9cf 100644 --- 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 `_. +`API doc for ComputeIK `_. Code Example @@ -78,7 +78,7 @@ PredicateFilter - void setIgnoreFilter(bool ignore) - Ignore predicate and forward all solutions -`API doc for PredicateFilter `_. +`API doc for PredicateFilter `_. Code Example diff --git a/doc/examples/controller_configuration/controller_configuration_tutorial.rst b/doc/examples/controller_configuration/controller_configuration_tutorial.rst index 1fe6c488bc..914f77e902 100644 --- a/doc/examples/controller_configuration/controller_configuration_tutorial.rst +++ b/doc/examples/controller_configuration/controller_configuration_tutorial.rst @@ -2,9 +2,9 @@ Low Level Controllers ===================== MoveIt typically publishes manipulator motion commands to a `JointTrajectoryController `_. 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 `_. +#. 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 `_. -#. 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 `_. +#. 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 `_. #. Launch the corresponding :code:`ros2_control` JointTrajectoryControllers. This is separate from the MoveIt 2 ecosystem. `Example ros2_control launching `_. Each JointTrajectoryController provides an action interface. Given the yaml file above, MoveIt automatically connects to this action interface. @@ -12,7 +12,7 @@ MoveIt typically publishes manipulator motion commands to a `JointTrajectoryCont 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 `_. +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 `_. 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 index 8bf46926e3..14f0a67f9d 100644 --- 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 `_ package provides plugins and a graphical +The `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 git@github.com:ros-planning/moveit_calibration.git + git clone git@github.com: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 index 0e76b1c474..d20dbb408c 100644 --- 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 index f24f94aa83..052742b0a6 100644 --- 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 index e99562ba3f..837e0ab6dd 100644 --- 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 `_. 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 `_ for more information. +See the `Cached IK README `_ 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 index 22a2cbd1b6..ce7a207120 100644 --- 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 `_ 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 `_ for why this's needed .. code-block:: xml diff --git a/doc/examples/move_group_interface/move_group_interface_tutorial.rst b/doc/examples/move_group_interface/move_group_interface_tutorial.rst index 55e2a4e43e..8eb4a537d7 100644 --- a/doc/examples/move_group_interface/move_group_interface_tutorial.rst +++ b/doc/examples/move_group_interface/move_group_interface_tutorial.rst @@ -60,6 +60,6 @@ The entire launch file is :codedir:`here`_ *setGoalTolerance()* and related methods sets the tolerance for **planning**, not execution. +Note that the `MoveGroupInterface's `_ *setGoalTolerance()* and related methods sets the tolerance for **planning**, not execution. If you want to configure the execution tolerances, you will have to edit the *controller.yaml* file if using a FollowJointTrajectory controller, or manually add it into the generated trajectory message from the planner. diff --git a/doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp b/doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp index cd14577d24..355e01e410 100644 --- a/doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp +++ b/doc/examples/moveit_cpp/src/moveit_cpp_tutorial.cpp @@ -224,7 +224,7 @@ int main(int argc, char** argv) // We can set the goal of the plan using the name of a group states // for panda robot we have one named robot state for "panda_arm" planning group called "ready" // see `panda_arm.xacro - // `_ + // `_ /* // Set the start state of the plan from a named robot state */ /* planning_components->setStartState("ready"); // Not implemented yet */ diff --git a/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst b/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst index 821a00ad51..64b68faef5 100644 --- a/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst +++ b/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst @@ -25,10 +25,10 @@ Installing MoveIt Grasps Install From Source ^^^^^^^^^^^^^^^^^^^ -Clone the `moveit_grasps `_ repository into a `catkin workspace `_. For this tutorial we use Franka Emika's Panda robot setup from `panda_moveit_config `_:: +Clone the `moveit_grasps `_ repository into a `catkin workspace `_. For this tutorial we use Franka Emika's Panda robot setup from `panda_moveit_config `_:: cd ~/ws_moveit/src - git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_grasps.git + git clone -b $ROS_DISTRO-devel https://github.com/moveit/moveit_grasps.git Use the rosdep tool to automatically install its dependencies:: @@ -59,7 +59,7 @@ For running Demos using a suction gripper, specify the gripper when launching Rv roslaunch moveit_grasps rviz.launch gripper:=suction -**NOTE:** The released versions of `panda_moveit_config `_ may lag behind the source versions. If you have issues with the demos, a good first step would be to download and build `panda_moveit_config `_ from source. +**NOTE:** The released versions of `panda_moveit_config `_ may lag behind the source versions. If you have issues with the demos, a good first step would be to download and build `panda_moveit_config `_ from source. 1) The Entire MoveIt Grasps Pipeline ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -140,7 +140,7 @@ In addition, the *Grasp Generator* uses the following component: - *Grasp Scorer* supports a number of heuristics for judging which grasps are favorable, given known information about the problem / application -An example for generating, filtering and planning grasp motions can be found inside the file `src/grasp_pipeline_demo.cpp `_. Instructions for running are below. +An example for generating, filtering and planning grasp motions can be found inside the file `src/grasp_pipeline_demo.cpp `_. Instructions for running are below. Robot-Agnostic Configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -154,7 +154,7 @@ In addition to this tutorial, see the comments in the following example files fo **ROBOT_grasp_data.yaml** -The canonical example end effector configuration uses Franka Emika's Panda: `config_robot/panda_grasp_data.yaml `_. +The canonical example end effector configuration uses Franka Emika's Panda: `config_robot/panda_grasp_data.yaml `_. In that file you will find all of the gripper specific parameters necessary for customizing MoveIt Grasps with suction or finger grippers. @@ -176,13 +176,13 @@ Illustration diagrams for the parameters inside *ROBOT_grasp_data.yaml* file **moveit_grasps_config.yaml** -An example configuration file for the *Grasp Generator*, *Grasp Filter* and *Grasp Planner* can be found in `config/moveit_grasps_config.yaml `_. +An example configuration file for the *Grasp Generator*, *Grasp Filter* and *Grasp Planner* can be found in `config/moveit_grasps_config.yaml `_. Applying Robot-Agnostic Configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ To apply your yaml configurations, load them as rosparams with your grasping application / ROS node. -For an example, see the segment below from the file `launch/grasp_pipeline_demo.launch `_:: +For an example, see the segment below from the file `launch/grasp_pipeline_demo.launch `_:: diff --git a/doc/examples/ompl_interface/ompl_interface_tutorial.rst b/doc/examples/ompl_interface/ompl_interface_tutorial.rst index 6ba571f7f9..0a39044da5 100644 --- a/doc/examples/ompl_interface/ompl_interface_tutorial.rst +++ b/doc/examples/ompl_interface/ompl_interface_tutorial.rst @@ -16,17 +16,17 @@ Here we review important configuration settings for OMPL. These settings can typ Longest Valid Segment Fraction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The ``longest_valid_segment_fraction`` defines the discretization of robot motions used for collision checking and greatly affects the performance and reliability of OMPL-based solutions. A ``motion`` in this context can be thought of as an edge between two nodes in a graph, where nodes are waypoints along a trajectory. The default motion collision checker in OMPL simply discretizes the edge into a number of sub-states to collision check. No continuous collision checking is currently available in OMPL/MoveIt, though this is an area of current `discussion `_. +The ``longest_valid_segment_fraction`` defines the discretization of robot motions used for collision checking and greatly affects the performance and reliability of OMPL-based solutions. A ``motion`` in this context can be thought of as an edge between two nodes in a graph, where nodes are waypoints along a trajectory. The default motion collision checker in OMPL simply discretizes the edge into a number of sub-states to collision check. No continuous collision checking is currently available in OMPL/MoveIt, though this is an area of current `discussion `_. Specifically, ``longest_valid_segment_fraction`` is the fraction of the robot's state space that, given the robot isn't currently in collision, we assume the robot can travel while remaining collision free. For example, if ``longest_valid_segment_fraction = 0.01``, then we assume that if an edge between two nodes is less than 1/100th of the state space, then we don't need to explicitly check any sub-states along that edge, just the two nodes it connects. -In addition to the ``longest_valid_segment_fraction`` parameter in the ``ompl_planning.yaml`` file, there is also the ``maximum_waypoint_distance``, found in the `dynamic reconfigure file `_. ``maximum_waypoint_distance`` defines the same discretization of robot motions for collision checking, but it does so at an absolute level instead of using fractions of the state space. For example, if ``maximum_waypoint_distance = 0.1``, then if an edge is shorter than ``0.1`` in state space distance, then we don't explicitly check any sub-states along that edge. +In addition to the ``longest_valid_segment_fraction`` parameter in the ``ompl_planning.yaml`` file, there is also the ``maximum_waypoint_distance``, found in the `dynamic reconfigure file `_. ``maximum_waypoint_distance`` defines the same discretization of robot motions for collision checking, but it does so at an absolute level instead of using fractions of the state space. For example, if ``maximum_waypoint_distance = 0.1``, then if an edge is shorter than ``0.1`` in state space distance, then we don't explicitly check any sub-states along that edge. If both ``longest_valid_segment_fraction`` and ``maximum_waypoint_distance`` are set, then the variable that produces the most conservative discretization (the one that would generate the most states to collision check on a given edge) is chosen. Set ``longest_valid_segment_fraction`` (or ``maximum_waypoint_distance``) too low, and collision checking / motion planning will be very slow. Set too high and collisions will be missed around small or narrow objects. In addition, a high collision checking resolution will cause the path smoothers to output incomprehensible motions because they are able to "catch" the invalid path and then attempt to repair them by sampling around it, but imperfectly. -A quick analysis of the effect of this parameter on two of the MoveIt tutorial examples is documented `here `_. +A quick analysis of the effect of this parameter on two of the MoveIt tutorial examples is documented `here `_. Projection Evaluator ^^^^^^^^^^^^^^^^^^^^ diff --git a/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst b/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst index 6fa5d61ead..3c8d683079 100644 --- a/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst +++ b/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst @@ -175,7 +175,7 @@ KNOWN ISSUE - You may see the following error when running the demo :: ros.moveit_ros_perception: Transform cache was not updated. Self-filtering may fail. We are working on fixing it, it should not break the working of the demo. -You can follow its status in the `issue tracker `_ +You can follow its status in the `issue tracker `_ Relevant Code +++++++++++++ diff --git a/doc/examples/planning_adapters/planning_adapters_tutorial.rst b/doc/examples/planning_adapters/planning_adapters_tutorial.rst index 49db9f9ca1..6155ba1f6d 100644 --- a/doc/examples/planning_adapters/planning_adapters_tutorial.rst +++ b/doc/examples/planning_adapters/planning_adapters_tutorial.rst @@ -43,7 +43,7 @@ Running OMPL as a pre-processor for CHOMP Here, it is demonstrated that CHOMP can be used as a post-processing optimization technique for plans obtained by other planning algorithms. The intuition behind this is that some randomized planning algorithm produces an initial guess for CHOMP. CHOMP then takes this initial guess and further optimizes the trajectory. To achieve this, follow the steps: -#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: +#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and change it to: :: +#. Open the ``stomp_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is `this `_ file. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and change it to: :: +#. Open the ``ompl_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is this `file `_. Edit this launch file, find the lines where ```` is mentioned and change it to: :: `` is mentioned and add the following lines below it: :: +#. Open the ``chomp_planning_pipeline.launch`` file in the ``/launch`` folder of your robot. For the Panda robot it is `this file `_. Edit this launch file, find the lines where ```` is mentioned and add the following lines below it: :: diff --git a/doc/examples/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst b/doc/examples/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst index d5dd9c0027..3828360a7a 100644 --- a/doc/examples/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst +++ b/doc/examples/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst @@ -38,4 +38,4 @@ The entire code can be seen :codedir:`here in the MoveIt GitHub project` for us to use. // // .. _RobotModelLoader: - // https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h + // https://github.com/moveit/moveit2/blob/main/moveit_ros/planning/robot_model_loader/include/moveit/robot_model_loader/robot_model_loader.h robot_model_loader::RobotModelLoader robot_model_loader(node); const moveit::core::RobotModelPtr& kinematic_model = robot_model_loader.getModel(); RCLCPP_INFO(LOGGER, "Model frame: %s", kinematic_model->getModelFrame().c_str()); diff --git a/doc/examples/setup_assistant/setup_assistant_tutorial.rst b/doc/examples/setup_assistant/setup_assistant_tutorial.rst index 2fa41cfefa..ef3b838dee 100644 --- a/doc/examples/setup_assistant/setup_assistant_tutorial.rst +++ b/doc/examples/setup_assistant/setup_assistant_tutorial.rst @@ -26,7 +26,7 @@ MoveIt and ROS 2 * Follow the :doc:`instructions for installing MoveIt ` first if you have not already done that. -* We use the `moveit_resources_panda_description `_ +* We use the `moveit_resources_panda_description `_ package. This package should already be included in your workspace if you've completed the MoveIt installation instructions. Step 1: Start diff --git a/doc/examples/tests/tests_tutorial.rst b/doc/examples/tests/tests_tutorial.rst index 2b5bf34f4f..1d18205c38 100644 --- a/doc/examples/tests/tests_tutorial.rst +++ b/doc/examples/tests/tests_tutorial.rst @@ -26,13 +26,13 @@ Test Robots **Panda** -From the package `panda_moveit_config `_: :: +From the package `panda_moveit_config `_: :: roslaunch panda_moveit_config demo.launch **Fanuc M-10iA** -From the package `moveit_resources `_: :: +From the package `moveit_resources `_: :: roslaunch moveit_resources demo.launch diff --git a/doc/examples/time_parameterization/time_parameterization_tutorial.rst b/doc/examples/time_parameterization/time_parameterization_tutorial.rst index 01b55216ad..631cdbc496 100644 --- a/doc/examples/time_parameterization/time_parameterization_tutorial.rst +++ b/doc/examples/time_parameterization/time_parameterization_tutorial.rst @@ -20,7 +20,7 @@ MoveIt can support different algorithms for post-processing a kinematic trajecto * :moveit_codedir:`Time-optimal Trajectory Generation` -Time-optimal Trajectory Generation (TOTG) was introduced in PRs `#809 `_ and `#1365 `_. It produces trajectories with very smooth and continuous velocity profiles. The method is based on fitting path segments to the original trajectory and then sampling new waypoints from the optimized path. This is different from strict time parameterization methods as resulting waypoints may divert from the original trajectory within a certain tolerance. As a consequence, additional collision checks might be required when using this method. It is the default everywhere in MoveIt 2. +Time-optimal Trajectory Generation (TOTG) was introduced in PRs `#809 `_ and `#1365 `_. It produces trajectories with very smooth and continuous velocity profiles. The method is based on fitting path segments to the original trajectory and then sampling new waypoints from the optimized path. This is different from strict time parameterization methods as resulting waypoints may divert from the original trajectory within a certain tolerance. As a consequence, additional collision checks might be required when using this method. It is the default everywhere in MoveIt 2. Usage of a time parameterization algorithm as a Planning Request Adapter is documented in `this tutorial <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter>`_. diff --git a/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst b/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst index c33bbd6a99..26b90220c3 100644 --- a/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst +++ b/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst @@ -45,15 +45,15 @@ Prerequisites To use TrajOpt with your robot you must already have a MoveIt configuration package for your robot. For example, if you have a Panda robot, it's called ``panda_moveit_config``. This is typically configured using the :doc:`MoveIt Setup Assistant `. -**Note:** in this tutorial, we use ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository which contains the necessary config files for trajopt planner. +**Note:** in this tutorial, we use ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository which contains the necessary config files for trajopt planner. Running the Demo ---------------- -To run the example, you need to run ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository at first by passing ``trajopt`` as the planner: :: +To run the example, you need to run ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository at first by passing ``trajopt`` as the planner: :: roslaunch panda_moveit_config demo.launch pipeline:=trajopt -Then you can run the trajopt example from `ros-planning/moveit_tutorials `_: :: +Then you can run the trajopt example from `moveit/moveit_tutorials `_: :: roslaunch moveit_tutorials trajopt_example_launch.launch diff --git a/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp b/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp index 1a592ba9f1..7315a4a292 100644 --- a/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp +++ b/doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp @@ -125,7 +125,7 @@ void computeCollisionContactPoints(InteractiveRobot& robot) // iterate through **c_res.contacts** which is a std::map of contact points. // Look at the implementation of getCollisionMarkersFromContacts() in // `collision_tools.cpp - // `_ + // `_ // for how. if (c_res.collision) { diff --git a/doc/how_to_contribute/how_to_contribute_to_site.rst b/doc/how_to_contribute/how_to_contribute_to_site.rst index 89ad8dce9b..46c995f8e3 100644 --- a/doc/how_to_contribute/how_to_contribute_to_site.rst +++ b/doc/how_to_contribute/how_to_contribute_to_site.rst @@ -15,7 +15,7 @@ Requirements - Ubuntu 20.04 - ROS 2 Galactic - Docker -- A colcon workspace with a copy of `the moveit2_tutorials repo `_ (if you don't already have one, :doc:`/doc/tutorials/getting_started/getting_started` will walk you through the process of creating one). +- A colcon workspace with a copy of `the moveit2_tutorials repo `_ (if you don't already have one, :doc:`/doc/tutorials/getting_started/getting_started` will walk you through the process of creating one). Steps ----- diff --git a/doc/how_to_contribute/how_to_write_how_to_guides.rst b/doc/how_to_contribute/how_to_write_how_to_guides.rst index c1104343a2..6b3eea847f 100644 --- a/doc/how_to_contribute/how_to_write_how_to_guides.rst +++ b/doc/how_to_contribute/how_to_write_how_to_guides.rst @@ -19,7 +19,7 @@ Requirements Steps ----- -1. Fork the `MoveIt 2 Tutorials repository `_ and start a new branch with an intuitive name (e.g., ``jack/how-to-write-how-tos``). +1. Fork the `MoveIt 2 Tutorials repository `_ and start a new branch with an intuitive name (e.g., ``jack/how-to-write-how-tos``). #. Create a new file in the ``doc/how_to_guides`` directory with a ``.rst`` extension. The title should start with "How to" followed by the specific question being answered (e.g., "How to Write a MoveIt How-To Guide"). @@ -45,7 +45,7 @@ Steps #. Create a "Further Reading" section that links to amplifying information. -#. Submit the new page as a PR to the `MoveIt 2 Tutorials repository `_. +#. Submit the new page as a PR to the `MoveIt 2 Tutorials repository `_. Template -------- diff --git a/doc/how_to_contribute/how_to_write_tutorials.rst b/doc/how_to_contribute/how_to_write_tutorials.rst index 563e66e8af..76b80e76f1 100644 --- a/doc/how_to_contribute/how_to_write_tutorials.rst +++ b/doc/how_to_contribute/how_to_write_tutorials.rst @@ -4,7 +4,7 @@ How to Write a MoveIt Tutorial This guide explains how to write tutorials for the MoveIt documentation. Tutorials are one of the most useful contributions you can make because they are the first thing many new users see. This guide is intended for any contributor who wants to submit a new tutorial. -There are many additional quality standards and how-tos for contributing to the tutorials located in this repository's `README `_. +There are many additional quality standards and how-tos for contributing to the tutorials located in this repository's `README `_. Learning Objectives ------------------- @@ -20,7 +20,7 @@ Requirements Steps ----- -1. Fork the `MoveIt 2 Tutorials repository `_ and start a new branch with an intuitive name (e.g., ``jack/how-to-tutorials``). +1. Fork the `MoveIt 2 Tutorials repository `_ and start a new branch with an intuitive name (e.g., ``jack/how-to-tutorials``). #. Create a new file in the ``doc/tutorials`` directory with a ``.rst`` extension. The title should be a concise description (e.g., "MoveIt Quickstart in RViz"). @@ -42,7 +42,7 @@ Steps #. Add a link to the next tutorial the reader should follow. -#. Submit the new page as a PR to the `MoveIt 2 Tutorials repository `_. +#. Submit the new page as a PR to the `MoveIt 2 Tutorials repository `_. Template -------- diff --git a/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst b/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst index ef0ccb5e67..ae2e46ce19 100644 --- a/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst +++ b/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst @@ -11,7 +11,7 @@ The example below demonstrates how the benchmarking can be run. Example ------- -To run the example you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/ros-planning/moveit_benchmark_resources.git) into your workspace. +To run the example you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/moveit/moveit_benchmark_resources.git) into your workspace. Start the benchmarks by running: :: 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 4baa791e0d..77dfae33a2 100644 --- a/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst +++ b/doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst @@ -18,7 +18,7 @@ To use CHOMP with your robot you must have a MoveIt configuration package for yo 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: +**Note:** If you plan to use the ``panda_moveit_config`` package from the `moveit/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. #. Modify all references to Panda in ``chomp_demo.launch.py`` to point to your custom configuration instead @@ -27,7 +27,7 @@ Using CHOMP with Your Robot Running the Demo ---------------- -If you have the ``panda_moveit_config`` from the `ros-planning/moveit_resources `_ repository along with ``moveit2_tutorials`` you can run the demo using: :: +If you have the ``panda_moveit_config`` from the `moveit/moveit_resources `_ repository along with ``moveit2_tutorials`` you can run the demo using: :: ros2 launch moveit2_tutorials chomp_demo.launch.py rviz_tutorial:=True diff --git a/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst b/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst index 54ddfed1bc..cf524b55ca 100644 --- a/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst +++ b/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst @@ -26,7 +26,7 @@ Steps .. code-block:: bash - wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/main/.docker/docker-compose.yml + wget https://raw.githubusercontent.com/moveit/moveit2_tutorials/main/.docker/docker-compose.yml 3. Launch the container (you may need to hyphenate ``docker-compose`` if using compose V1) @@ -50,9 +50,9 @@ Further Reading refer to `this blog post `_ from PickNik's Vatan Aksoy Tezer and Brennard Pierce. -- You can find a list of tagged tutorial images `here `__. There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here `__. +- You can find a list of tagged tutorial images `here `__. There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here `__. - You can find more tagged images for MoveIt 2 Docker containers `here `__. The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries. The ``source`` version of the Docker image will build MoveIt 2 from source. - You can use any of these images by substituting the DOCKER_IMAGE environment variable with a tag name from the above link (like ``rolling-source``), but you must use `this docker-compose.yml `_ instead (simply copy it to a different location and run your ``docker compose`` command there). + You can use any of these images by substituting the DOCKER_IMAGE environment variable with a tag name from the above link (like ``rolling-source``), but you must use `this docker-compose.yml `_ instead (simply copy it to a different location and run your ``docker compose`` command there). diff --git a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst index 1da0d30038..2d6dd03836 100644 --- a/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst +++ b/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst @@ -41,7 +41,7 @@ that forwards the incoming ``command_interface`` values to the tracked ``state_i For us to expand our Panda robot to Isaac Sim we first have to introduce `topic_based_ros2_control `_. This Hardware Interface is a ``System`` that subscribes and publishes on configured topics. For this tutorial the topic ``/isaac_joint_states`` will contain the robot's current state and ``/isaac_joint_commands`` will be used to actuate it. -The `moveit_resources_panda_moveit_config `_ +The `moveit_resources_panda_moveit_config `_ we are using in this tutorial does not support connecting to hardware, so our ``ros2_control.xacro`` is now updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_hardware_type`` is set to ``isaac``. @@ -75,7 +75,7 @@ Computer Setup .. code-block:: bash - git clone https://github.com/ros-planning/moveit2_tutorials.git -b main + git clone https://github.com/moveit/moveit2_tutorials.git -b main 3. Go to the folder in which you cloned the tutorials and then switch to the following directory. diff --git a/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.rst b/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.rst index 0e5e1cadf0..3b922fa81f 100644 --- a/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.rst +++ b/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.rst @@ -26,7 +26,7 @@ To do this, you can create a colcon package named ``my_robot_moveit_config``, wh You can create such a package manually, or use the :doc:`MoveIt Setup Assistant ` to automatically generate it given a robot description file (URDF or xacro). -Refer to the `moveit_resources `_ repository for working examples of MoveIt configuration packages. +Refer to the `moveit_resources `_ repository for working examples of MoveIt configuration packages. Configuration Files Overview diff --git a/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst b/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst index a47753ad10..094118599e 100644 --- a/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst +++ b/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst @@ -4,10 +4,10 @@ Warehouse - Persistent Scenes and States The "MotionPlanning" plugin of RViz offers the possibility to save complete planning scenes and robot states persistently. Currently, two storage plugins (based on -`warehouse_ros `_) are available: +`warehouse_ros `_) are available: -* `warehouse_ros_mongo `_, which uses MongoDB as backend -* `warehouse_ros_sqlite `_, which uses SQLite as backend +* `warehouse_ros_mongo `_, which uses MongoDB as backend +* `warehouse_ros_sqlite `_, which uses SQLite as backend You can install both of them with your favourite package manager (e.g. ``apt-get install ros-{DISTRO}-warehouse-ros-mongo``) or @@ -32,7 +32,7 @@ If the database file does not exist yet, an empty database will be created. Connecting to the storage backend --------------------------------- -To run the demo you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/ros-planning/moveit_benchmark_resources.git) into your workspace. +To run the demo you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/moveit/moveit_benchmark_resources.git) into your workspace. After choosing the storage plugin and configuring the launch.py file, run RViz using :: diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst b/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst index 5535a2af3b..92403787ca 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst +++ b/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst @@ -302,7 +302,7 @@ MoveIt. Loading the plugin requires the param ``/move_group//planning_plugins`` to be set to ``[pilz_industrial_motion_planner/CommandPlanner]`` before the ``move_group`` node is started. For example, the `panda_moveit_config package -`_ +`_ has a ``pilz_industrial_motion_planner`` pipeline set up as follows: @@ -323,7 +323,7 @@ Cartesian limits have to be defined at ``/robot_description_planning``. You can set these using a ``pilz_cartesian_limits.yaml`` file in your ``*_moveit_config`` package. An example showing this file can be found in `panda_moveit_config -`_. +`_. To verify the limits were set correctly, you can check the parameters for your ``move_group`` node. For example, diff --git a/doc/how_to_guides/stomp_planner/stomp_planner.rst b/doc/how_to_guides/stomp_planner/stomp_planner.rst index e97299b692..f56211104b 100644 --- a/doc/how_to_guides/stomp_planner/stomp_planner.rst +++ b/doc/how_to_guides/stomp_planner/stomp_planner.rst @@ -23,13 +23,13 @@ You should also have gone through the steps in :doc:`Visualization with MoveIt R Prerequisites ------------- 1. A recent build of MoveIt ``main`` for your ROS 2 distribution. The STOMP library is provided as a separate ROS package for supported ROS 2 distributions and should be installed by ``rosdep``. - 2. To use STOMP with your robot it's best to start with a functional MoveIt configuration package for your robot. For testing, you can also start with the Panda robot from `ros-planning/panda_moveit_config `_ like described in this tutorial. + 2. To use STOMP with your robot it's best to start with a functional MoveIt configuration package for your robot. For testing, you can also start with the Panda robot from `moveit/panda_moveit_config `_ like described in this tutorial. Using STOMP with Your Robot --------------------------- -**Note:** if you are following this demo using the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config `_ repository, these steps are already done for you and you can directly launch the demo for testing STOMP in RViZ. +**Note:** if you are following this demo using the ``panda_moveit_config`` from the `moveit/panda_moveit_config `_ repository, these steps are already done for you and you can directly launch the demo for testing STOMP in RViZ. -#. Simply add the `stomp_planning.yaml `__ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: :: +#. Simply add the `stomp_planning.yaml `__ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: :: planning_plugins: - stomp_moveit/StompPlanner @@ -53,17 +53,17 @@ Using STOMP with Your Robot control_cost_weight: 0.1 delta_t: 0.1 -#. Configure MoveIt to load the STOMP planning pipeline by adding "stomp" to your MoveItConfiguration launch statement next to "ompl" and the other planners. You can find an example for this in the `demo.launch.py `_ of the Panda config. +#. Configure MoveIt to load the STOMP planning pipeline by adding "stomp" to your MoveItConfiguration launch statement next to "ompl" and the other planners. You can find an example for this in the `demo.launch.py `_ of the Panda config. Running the Demo ---------------- -If you have the ``panda_moveit_config`` from the `ros-planning/moveit_resources `_ repository you should be able to simply launch the demo setup and start planning with STOMP in RViZ :: +If you have the ``panda_moveit_config`` from the `moveit/moveit_resources `_ repository you should be able to simply launch the demo setup and start planning with STOMP in RViZ :: ros2 launch moveit_resources_panda_moveit_config demo.launch.py STOMP Parameters ---------------- -STOMP's parameters are configurable using the `stomp_planning.yaml `__. All parameters are defined by the `stomp_moveit.yaml `_ which is used as input for the `generate_parameter_library `_. In that file you can also find more information like default values and allowable ranges: +STOMP's parameters are configurable using the `stomp_planning.yaml `__. All parameters are defined by the `stomp_moveit.yaml `_ which is used as input for the `generate_parameter_library `_. In that file you can also find more information like default values and allowable ranges: **Optimization Parameters**: diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index b6407dcdf6..07b7a64466 100644 --- a/doc/tutorials/getting_started/getting_started.rst +++ b/doc/tutorials/getting_started/getting_started.rst @@ -62,7 +62,7 @@ Download Source Code of MoveIt and the Tutorials Move into your Colcon workspace and pull the MoveIt tutorials source: :: cd ~/ws_moveit/src - git clone https://github.com/ros-planning/moveit2_tutorials + git clone https://github.com/moveit/moveit2_tutorials Next we will download the source code for the rest of MoveIt: :: diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst index 2b09f77474..3c64bcca84 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst @@ -7,7 +7,7 @@ Pick and Place with MoveIt Task Constructor MoveIt Task Constructor Pick and Place example -This tutorial will walk you through creating a package that plans a pick and place operation using `MoveIt Task Constructor `_. MoveIt Task Constructor provides a way to plan for tasks that consist of multiple different subtasks (known as stages). If you just want to run the tutorial, you can follow the :doc:`Docker Guide ` to start a container with the completed tutorial. +This tutorial will walk you through creating a package that plans a pick and place operation using `MoveIt Task Constructor `_. MoveIt Task Constructor provides a way to plan for tasks that consist of multiple different subtasks (known as stages). If you just want to run the tutorial, you can follow the :doc:`Docker Guide ` to start a container with the completed tutorial. 1 Basic Concepts ---------------- @@ -61,7 +61,7 @@ If you haven't already done so, make sure you've completed the steps in :doc:`Ge Move into your colcon workspace and pull the MoveIt Task Constructor source: :: cd ~/ws_moveit/src - git clone git@github.com:ros-planning/moveit_task_constructor.git -b ros2 + git clone git@github.com:moveit/moveit_task_constructor.git -b ros2 3 Trying It Out ------------------ @@ -987,4 +987,4 @@ It also initializes a ``PlanningScene`` object, capturing any collision objects MTC stages can be propagated in forward and backward order. You can easily check which direction a stage propagates by the arrow in the RViz GUI. When propagating backwards, the logic of many operations is reversed. -For example, to allow collisions with an object in a ``ModifyPlanningScene`` stage, you would call ``allowCollisions(false)`` rather than ``allowCollisions(true)``. There is a discussion to be read `here. `_ +For example, to allow collisions with an object in a ``ModifyPlanningScene`` stage, you would call ``allowCollisions(false)`` rather than ``allowCollisions(true)``. There is a discussion to be read `here. `_ diff --git a/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst b/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst index 6d632adf5e..9081c99a91 100644 --- a/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst +++ b/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst @@ -286,7 +286,7 @@ You extended the program you wrote with MoveIt to interact with the Gui in RViz, Further Reading --------------- -- MoveItVisualTools has many more useful features for visualizing robot motions. `You can read more about it here `_. +- MoveItVisualTools has many more useful features for visualizing robot motions. `You can read more about it here `_. - There are also more examples of using ``MoveItVisualTools`` in :doc:`MoveItCpp Tutorial `. - :codedir:`Here is a copy of the full hello_moveit.cpp source`. diff --git a/htmlproofer.sh b/htmlproofer.sh index d74d0ae004..a01ca9bef3 100755 --- a/htmlproofer.sh +++ b/htmlproofer.sh @@ -20,7 +20,7 @@ rm -rf build # Build API docs mkdir -p build/html pushd build/html -git clone https://github.com/ros-planning/moveit2 -b $MOVEIT_BRANCH --depth 1 +git clone https://github.com/moveit/moveit2 -b $MOVEIT_BRANCH --depth 1 pushd moveit2 sed -i "s/HTML_EXTRA_STYLESHEET =.*/HTML_EXTRA_STYLESHEET = ..\/..\/..\/theme.css/g" Doxyfile DOXYGEN_OUTPUT_DIRECTORY="../api" doxygen @@ -32,8 +32,8 @@ popd sphinx-build -W -b html . build/html # Replace Edit on Github links with local file paths -grep -rl 'https:\/\/github.com\/ros-planning\/moveit2_tutorials\/blob\/main\/' ./build/ | \ - xargs sed -i "s|https://github.com/ros-planning/moveit2_tutorials/blob/main/|file://$PWD|g" +grep -rl 'https:\/\/github.com\/moveit\/moveit2_tutorials\/blob\/main\/' ./build/ | \ + xargs sed -i "s|https://github.com/moveit/moveit2_tutorials/blob/main/|file://$PWD|g" # Replace internal links with local file paths grep -rl 'https:\/\/moveit.picknik.ai\/rolling\/' ./build/ | \ diff --git a/index.rst b/index.rst index d7682bac83..b72c3d28da 100644 --- a/index.rst +++ b/index.rst @@ -5,6 +5,7 @@ Welcome to the unified MoveIt documentation, which includes tutorials, how-to gu MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials `_. For the commercially supported version see `MoveIt Pro tutorials `_. + .. image:: https://moveit.ros.org/assets/images/roadmap.png :width: 400px @@ -34,7 +35,7 @@ Table Of Contents Attribution ----------- -Some major past contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman, Tyler Weaver, David Lu!!, Vatan Tezer, and Andy Zelenak. These are just some of the `46+ Contributors over the years `_ who have a big impact on this documentation. +Some major past contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Goerner, Francisco Suarez, Mike Lautman, Tyler Weaver, David Lu!!, Vatan Tezer, and Andy Zelenak. These are just some of the `46+ Contributors over the years `_ who have a big impact on this documentation. Help us improve these docs and we'll be happy to include you here also! diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos index 0ac0ba818d..fb5931a414 100644 --- a/moveit2_tutorials.repos +++ b/moveit2_tutorials.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 # Remove ros2_kortex when rolling binaries are available. ros2_kortex: @@ -28,15 +28,15 @@ repositories: version: ros2 moveit2: type: git - url: https://github.com/ros-planning/moveit2 + url: https://github.com/moveit/moveit2 version: main moveit_resources: type: git - url: https://github.com/ros-planning/moveit_resources + url: https://github.com/moveit/moveit_resources version: ros2 moveit_msgs: type: git - url: https://github.com/ros-planning/moveit_msgs + url: https://github.com/moveit/moveit_msgs version: ros2 pick_ik: type: git diff --git a/package.xml b/package.xml index 9f4fca44ab..bf9505634d 100644 --- a/package.xml +++ b/package.xml @@ -13,8 +13,8 @@ Mike Lautman https://moveit.picknik.ai - https://github.com/ros-planning/moveit2_tutorials - https://github.com/ros-planning/moveit2_tutorials/issues + https://github.com/moveit/moveit2_tutorials + https://github.com/moveit/moveit2_tutorials/issues ament_cmake