From 43d7753e3fa7d7b141c143ae304b859dcb338ae6 Mon Sep 17 00:00:00 2001 From: "David V. Lu" Date: Thu, 8 Oct 2020 12:12:10 -0400 Subject: [PATCH 1/3] Update Branches to Noetic --- README.md | 1 + conf.py | 6 +++--- doc/getting_started/getting_started.rst | 4 ++-- .../src/motion_planning_api_tutorial.cpp | 4 ++-- .../src/motion_planning_pipeline_tutorial.cpp | 4 ++-- .../move_group_interface_tutorial.rst | 4 ++-- .../move_group_python_interface_tutorial.py | 14 +++++++------- doc/pick_place/pick_place_tutorial.rst | 2 +- ..._approximated_constraint_manifolds_tutorial.rst | 4 ++-- .../src/robot_model_and_robot_state_tutorial.cpp | 2 +- doc/setup_assistant/setup_assistant_tutorial.rst | 8 ++++---- doc/tests/tests_tutorial.rst | 2 +- .../src/visualizing_collisions_tutorial.cpp | 2 +- 13 files changed, 29 insertions(+), 28 deletions(-) diff --git a/README.md b/README.md index aed2028ca..6978a1851 100644 --- a/README.md +++ b/README.md @@ -27,6 +27,7 @@ It has been tested on Ubuntu 16.04 with ROS Kinetic pre-installed. Run in the ro export ROS_DISTRO=kinetic # 16.04 export ROS_DISTRO=melodic # 18.04 + export ROS_DISTRO=noetic # 20.04 source /opt/ros/$ROS_DISTRO/setup.bash ./build_locally.sh diff --git a/conf.py b/conf.py index 339a50b5a..a875b19ee 100644 --- a/conf.py +++ b/conf.py @@ -18,9 +18,9 @@ # built documents. # # The short X.Y version. -version = 'Melodic' +version = 'Noetic' # The full version, including alpha/beta/rc tags. -release = 'Melodic' +release = 'Noetic' # The name of the Pygments (syntax highlighting) style to use. pygments_style = 'sphinx' @@ -49,7 +49,7 @@ # Add any paths that contain custom themes here, relative to this directory. # Links -ros_distro = 'melodic' +ros_distro = 'noetic' extlinks = {'codedir': ('https://github.com/' + html_context["github_user"] + '/moveit_tutorials/blob/' + html_context["github_version"] + '/doc/%s', ''), 'moveit_codedir': ('https://github.com/' + html_context["github_user"] + '/moveit/blob/' + html_context["github_version"] + '/%s', ''), 'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + ros_distro + '-devel' + '/%s', ''), diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst index 072c3d400..dd13d0796 100644 --- a/doc/getting_started/getting_started.rst +++ b/doc/getting_started/getting_started.rst @@ -5,7 +5,7 @@ This tutorial will install MoveIt and create a workspace sandbox to run the tuto Install ROS and Catkin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -`Install ROS Melodic `_. +`Install ROS Noetic `_. It is easy to miss steps when going through the ROS installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS correctly. Once you have ROS installed, make sure you have the most up to date packages: :: @@ -48,7 +48,7 @@ Build your Catkin Workspace The following will install from Debian any package dependencies not already in your workspace: :: cd ~/ws_moveit/src - rosdep install -y --from-paths . --ignore-src --rosdistro melodic + rosdep install -y --from-paths . --ignore-src --rosdistro noetic The next command will configure your catkin workspace: :: diff --git a/doc/motion_planning_api/src/motion_planning_api_tutorial.cpp b/doc/motion_planning_api/src/motion_planning_api_tutorial.cpp index debce2d21..ad123336d 100644 --- a/doc/motion_planning_api/src/motion_planning_api_tutorial.cpp +++ b/doc/motion_planning_api/src/motion_planning_api_tutorial.cpp @@ -69,7 +69,7 @@ int main(int argc, char** argv) // to use. // // .. _RobotModelLoader: - // http://docs.ros.org/indigo/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html + // http://docs.ros.org/noetic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html const std::string PLANNING_GROUP = "panda_arm"; robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); const moveit::core::RobotModelPtr& robot_model = robot_model_loader.getModel(); @@ -173,7 +173,7 @@ int main(int argc, char** argv) // package. // // .. _kinematic_constraints: - // http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132 + // http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132 moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle); diff --git a/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp b/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp index b15a9adbf..d205e3bc0 100644 --- a/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp +++ b/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp @@ -65,7 +65,7 @@ int main(int argc, char** argv) // parameter server and construct a :moveit_core:`RobotModel` for us to use. // // .. _RobotModelLoader: - // http://docs.ros.org/melodic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html + // http://docs.ros.org/noetic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html robot_model_loader::RobotModelLoaderPtr robot_model_loader( new robot_model_loader::RobotModelLoader("robot_description")); @@ -151,7 +151,7 @@ int main(int argc, char** argv) // package. // // .. _kinematic_constraints: - // http://docs.ros.org/indigo/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132 + // http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132 req.group_name = "panda_arm"; moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle); diff --git a/doc/move_group_interface/move_group_interface_tutorial.rst b/doc/move_group_interface/move_group_interface_tutorial.rst index 791410829..9227c6567 100644 --- a/doc/move_group_interface/move_group_interface_tutorial.rst +++ b/doc/move_group_interface/move_group_interface_tutorial.rst @@ -3,7 +3,7 @@ Move Group C++ Interface .. image:: move_group_interface_tutorial_start_screen.png :width: 700px -In MoveIt, the simplest user interface is through the :planning_interface:`MoveGroupInterface` class. It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. This interface communicates over ROS topics, services, and actions to the `MoveGroup Node `_. +In MoveIt, the simplest user interface is through the :planning_interface:`MoveGroupInterface` class. It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. This interface communicates over ROS topics, services, and actions to the `MoveGroup Node `_. Watch this quick `YouTube video demo `_ to see the power of the move group interface! @@ -56,6 +56,6 @@ 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/move_group_python_interface/scripts/move_group_python_interface_tutorial.py b/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py index 5dcda4d1f..266f02a0a 100755 --- a/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py +++ b/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py @@ -504,25 +504,25 @@ def main(): ## BEGIN_TUTORIAL ## .. _moveit_commander: -## http://docs.ros.org/melodic/api/moveit_commander/html/namespacemoveit__commander.html +## http://docs.ros.org/noetic/api/moveit_commander/html/namespacemoveit__commander.html ## ## .. _MoveGroupCommander: -## http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html +## http://docs.ros.org/noetic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html ## ## .. _RobotCommander: -## http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1robot_1_1RobotCommander.html +## http://docs.ros.org/noetic/api/moveit_commander/html/classmoveit__commander_1_1robot_1_1RobotCommander.html ## ## .. _PlanningSceneInterface: -## http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html +## http://docs.ros.org/noetic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html ## ## .. _DisplayTrajectory: -## http://docs.ros.org/melodic/api/moveit_msgs/html/msg/DisplayTrajectory.html +## http://docs.ros.org/noetic/api/moveit_msgs/html/msg/DisplayTrajectory.html ## ## .. _RobotTrajectory: -## http://docs.ros.org/melodic/api/moveit_msgs/html/msg/RobotTrajectory.html +## http://docs.ros.org/noetic/api/moveit_msgs/html/msg/RobotTrajectory.html ## ## .. _rospy: -## http://docs.ros.org/melodic/api/rospy/html/ +## http://docs.ros.org/noetic/api/rospy/html/ ## CALL_SUB_TUTORIAL imports ## CALL_SUB_TUTORIAL setup ## CALL_SUB_TUTORIAL basic_info diff --git a/doc/pick_place/pick_place_tutorial.rst b/doc/pick_place/pick_place_tutorial.rst index a3d931c6c..13a346723 100644 --- a/doc/pick_place/pick_place_tutorial.rst +++ b/doc/pick_place/pick_place_tutorial.rst @@ -28,7 +28,7 @@ You should see something similar to the video at the beginning of this tutorial. Understanding ``moveit_msgs::Grasp`` ------------------------------------ -For complete documentation refer to `moveit_msgs/Grasp.msg. `_ +For complete documentation refer to `moveit_msgs/Grasp.msg. `_ The relevant fields of the message are:- diff --git a/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst b/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst index 6be640657..a90544705 100644 --- a/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst +++ b/doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst @@ -97,7 +97,7 @@ VisibilityConstraint A ``VisibilityConstraint`` allows to eg. specify a camera should always be able to see the gripper. -How this is achieved is best explained by the `VisibilityConstraint `_ class documentation. +How this is achieved is best explained by the `VisibilityConstraint `_ class documentation. Such a constraint is compactly defined like this:: @@ -128,7 +128,7 @@ The file with the constraint definitions can be passed to the launch file:: Internals ^^^^^^^^^ -The main functionality is implemented in the `ConstraintsLibrary `_ class. +The main functionality is implemented in the `ConstraintsLibrary `_ class. Constraints are added by calling ``addConstraintApproximation()`` which can be called subsequently to include multiple constraints in the approximation. The function requires four parameters: diff --git a/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp b/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp index a5e010646..8a1b73876 100644 --- a/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp +++ b/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp @@ -66,7 +66,7 @@ int main(int argc, char** argv) // :moveit_core:`RobotModel` for us to use. // // .. _RobotModelLoader: - // http://docs.ros.org/melodic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html + // http://docs.ros.org/noetic/api/moveit_ros_planning/html/classrobot__model__loader_1_1RobotModelLoader.html robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); const moveit::core::RobotModelPtr& kinematic_model = robot_model_loader.getModel(); ROS_INFO("Model frame: %s", kinematic_model->getModelFrame().c_str()); diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst index 7d7b110ca..bd6d28c14 100644 --- a/doc/setup_assistant/setup_assistant_tutorial.rst +++ b/doc/setup_assistant/setup_assistant_tutorial.rst @@ -23,9 +23,9 @@ MoveIt and ROS first if you have not already done that. * If you haven't already done so, make sure you have the `Franka description - package `_ for Melodic: :: + package `_ for Noetic: :: - sudo apt-get install ros-melodic-franka-description + sudo apt-get install ros-noetic-franka-description * If you have the ``panda_moveit_config`` package already git-cloned from the *Getting Started* page, be sure to delete that now since this tutorial will teach you how to create it from scratch: :: @@ -52,8 +52,8 @@ Step 1: Start * Click on the browse button and navigate to the *panda_arm_hand.urdf.xacro* file installed when you installed the Franka package above. (This file gets installed in - /opt/ros/melodic/share/franka_description/robots/panda_arm_hand.urdf.xacro on Ubuntu - with ROS Melodic.) Choose that file and then click *Load Files*. The + /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro on Ubuntu + with ROS Noetic.) Choose that file and then click *Load Files*. The Setup Assistant will load the files (this might take a few seconds) and present you with this screen: diff --git a/doc/tests/tests_tutorial.rst b/doc/tests/tests_tutorial.rst index 4517c79a2..f45bffd25 100644 --- a/doc/tests/tests_tutorial.rst +++ b/doc/tests/tests_tutorial.rst @@ -71,7 +71,7 @@ Test coverage measures the lines of code that are executed while running the tes To accumulate statistics and create a html coverage report, build the code without optimization and run the special `_coverage` target:: - sudo apt-get install ros-melodic-code-coverage + sudo apt-get install ros-noetic-code-coverage catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug catkin build catkin build moveit_core -v --no-deps --catkin-make-args moveit_core_coverage diff --git a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp b/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp index 368f082ae..ed3bf8c52 100644 --- a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp +++ b/doc/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) { From 28d74ccc6d290e75b4debdcdd3d590863a4461c3 Mon Sep 17 00:00:00 2001 From: "David V. Lu" Date: Thu, 8 Oct 2020 12:55:46 -0400 Subject: [PATCH 2/3] apt-get => apt --- doc/getting_started/getting_started.rst | 4 ++-- doc/setup_assistant/setup_assistant_tutorial.rst | 2 +- doc/tests/tests_tutorial.rst | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst index dd13d0796..943a51103 100644 --- a/doc/getting_started/getting_started.rst +++ b/doc/getting_started/getting_started.rst @@ -11,8 +11,8 @@ It is easy to miss steps when going through the ROS installation tutorial. If yo Once you have ROS installed, make sure you have the most up to date packages: :: rosdep update - sudo apt-get update - sudo apt-get dist-upgrade + sudo apt update + sudo apt dist-upgrade Install `catkin `_ the ROS build system: :: diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst index bd6d28c14..fc94841dc 100644 --- a/doc/setup_assistant/setup_assistant_tutorial.rst +++ b/doc/setup_assistant/setup_assistant_tutorial.rst @@ -25,7 +25,7 @@ MoveIt and ROS * If you haven't already done so, make sure you have the `Franka description package `_ for Noetic: :: - sudo apt-get install ros-noetic-franka-description + sudo apt install ros-noetic-franka-description * If you have the ``panda_moveit_config`` package already git-cloned from the *Getting Started* page, be sure to delete that now since this tutorial will teach you how to create it from scratch: :: diff --git a/doc/tests/tests_tutorial.rst b/doc/tests/tests_tutorial.rst index f45bffd25..13b11f3f2 100644 --- a/doc/tests/tests_tutorial.rst +++ b/doc/tests/tests_tutorial.rst @@ -71,7 +71,7 @@ Test coverage measures the lines of code that are executed while running the tes To accumulate statistics and create a html coverage report, build the code without optimization and run the special `_coverage` target:: - sudo apt-get install ros-noetic-code-coverage + sudo apt install ros-noetic-code-coverage catkin config --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug catkin build catkin build moveit_core -v --no-deps --catkin-make-args moveit_core_coverage From a2862e587a2e43faa62b73ee885dd2c0533b1e82 Mon Sep 17 00:00:00 2001 From: "David V. Lu" Date: Thu, 8 Oct 2020 14:18:33 -0400 Subject: [PATCH 3/3] Update Conf --- conf.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/conf.py b/conf.py index a875b19ee..eebb729b6 100644 --- a/conf.py +++ b/conf.py @@ -52,7 +52,7 @@ ros_distro = 'noetic' extlinks = {'codedir': ('https://github.com/' + html_context["github_user"] + '/moveit_tutorials/blob/' + html_context["github_version"] + '/doc/%s', ''), 'moveit_codedir': ('https://github.com/' + html_context["github_user"] + '/moveit/blob/' + html_context["github_version"] + '/%s', ''), - 'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + ros_distro + '-devel' + '/%s', ''), + 'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + 'melodic-devel' + '/%s', ''), # TODO(dlu): use ros_distro when noetic-devel branch is available 'rosdocs': ('http://docs.ros.org/' + ros_distro + '/api/%s', ''), 'moveit_core': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classmoveit_1_1core_1_1%s.html', ''), 'planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classplanning__scene_1_1%s.html', ''),