moveit · AndyZe · Oct 8, 2020 · Oct 8, 2020 · Oct 8, 2020 · Oct 8, 2020
diff --git 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
@@ -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'
@@ -49,10 +49,10 @@
 # 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', ''),
+            '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', ''),

diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst
@@ -5,14 +5,14 @@ This tutorial will install MoveIt and create a workspace sandbox to run the tuto
 
 Install ROS and Catkin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-`Install ROS Melodic <http://wiki.ros.org/melodic/Installation/Ubuntu>`_.
+`Install ROS Noetic <http://wiki.ros.org/noetic/Installation/Ubuntu>`_.
 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: ::
 
   rosdep update
-  sudo apt-get update
-  sudo apt-get dist-upgrade
+  sudo apt update
+  sudo apt dist-upgrade
 
 Install `catkin <http://wiki.ros.org/catkin>`_ the ROS build system: ::
 
@@ -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
@@ -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
@@ -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
@@ -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 <http://docs.ros.org/indigo/api/moveit_ros_move_group/html/annotated.html>`_.
+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 <http://docs.ros.org/noetic/api/moveit_ros_move_group/html/annotated.html>`_.
 
 
 Watch this quick `YouTube video demo <https://youtu.be/_5siHkFQPBQ>`_ to see the power of the move group interface!
@@ -56,6 +56,6 @@ The entire launch file is :codedir:`here<move_group_interface/launch/move_group_
 
 A Note on Setting Tolerances
 ----------------------------
-Note that the `MoveGroupInterface's <http://docs.ros.org/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html>`_ `setGoalTolerance()` and related methods sets the tolerance for **planning**, not execution.
+Note that the `MoveGroupInterface's <http://docs.ros.org/noetic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html>`_ `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
@@ -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
@@ -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. <http://docs.ros.org/melodic/api/moveit_msgs/html/msg/Grasp.html>`_
+For complete documentation refer to `moveit_msgs/Grasp.msg. <http://docs.ros.org/noetic/api/moveit_msgs/html/msg/Grasp.html>`_
 
 The relevant fields of the message are:-
 

diff --git a/...nstraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst b/...nstraint_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 <https://docs.ros.org/melodic/api/moveit_core/html/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
+How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/noetic/api/moveit_core/html/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ 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 <http://docs.ros.org/melodic/api/moveit_planners_ompl/html/classompl__interface_1_1ConstraintsLibrary.html>`_ class.
+The main functionality is implemented in the `ConstraintsLibrary <http://docs.ros.org/noetic/api/moveit_planners_ompl/html/classompl__interface_1_1ConstraintsLibrary.html>`_ 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
@@ -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
@@ -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 <https://github.com/frankaemika/franka_ros>`_ for Melodic: ::
+  package <https://github.com/frankaemika/franka_ros>`_ for Noetic: ::
 
-    sudo apt-get install ros-melodic-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: ::
 
@@ -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
@@ -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 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
@@ -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
-  // <https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_
+  // <https://github.com/ros-planning/moveit/blob/noetic-devel/moveit_core/collision_detection/src/collision_tools.cpp>`_
   // for how.
   if (c_res.collision)
   {