Source setup.bash only once and simplify tutorials (moveit#65)

MikeWrock · May 15, 2018 · 6b1167b · 6b1167b
1 parent 96da649
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Showing 10 changed files with 16 additions and 48 deletions.
diff --git a/doc/collision_contact/collision_contact_tutorial.rst b/doc/collision_contact/collision_contact_tutorial.rst
@@ -11,10 +11,6 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Running the Code
 ----------------
-Make sure you have sourced the setup files: ::
-
- source ~/ws_moveit/devel/setup.bash
-
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 
  roslaunch moveit_tutorials collision_contact_tutorial.launch
@@ -45,4 +41,4 @@ The entire code can be seen :codedir:`here <collision_contact>` in the moveit_tu
 
 Launch file
 -----------
-The entire launch file is  :codedir:`here <collision_contact>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.
+The entire launch file is  :codedir:`here <collision_contact>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.
diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst
@@ -53,16 +53,20 @@ The following will attempt to install from Debian any package dependencies not a
 The next command will configure your catkin workspace: ::
 
   cd ~/ws_moveit
-  catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
+  catkin config --extend /opt/ros/kinetic
   catkin build
 
 Source the catkin workspace: ::
 
   source ~/ws_moveit/devel/setup.bash
 
-Optional: If you are only working on one catkin workspace at a time, you may want to add the previous command to your ``.bashrc``: ::
+Add the previous command to your ``.bashrc``: ::
 
-  echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
+   echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
+
+.. note:: Sourcing the ``setup.bash`` automatically in your ``~/.bashrc`` is
+   not required and often skipped by advanced users who use more than one
+   Catkin workspace at a time, but we recommend it for simplicity
 
 Next Step
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

diff --git a/doc/kinematic_model/kinematic_model_tutorial.rst b/doc/kinematic_model/kinematic_model_tutorial.rst
@@ -28,10 +28,6 @@ All the code in this tutorial can be compiled and run from the
 ``moveit_tutorials`` package that you have as part of your MoveIt!
 setup.
 
-Make sure you have sourced the setup files::
-
- source ~/ws_moveit/devel/setup.bash
-
 Roslaunch the launch file to run the code directly from moveit_tutorials::
 
  roslaunch moveit_tutorials kinematic_model_tutorial.launch

diff --git a/doc/motion_planning_api/motion_planning_api_tutorial.rst b/doc/motion_planning_api/motion_planning_api_tutorial.rst
@@ -13,10 +13,6 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Running the Demo
 ----------------
-Make sure you have sourced the setup files::
-
- source ~/ws_moveit/devel/setup.bash
-
 Roslaunch the launch file to run the code directly from moveit_tutorials::
 
  roslaunch moveit_tutorials motion_planning_api_tutorial.launch
@@ -53,4 +49,4 @@ The entire code can be seen :codedir:`here in the moveit_tutorials GitHub projec
 
 The Launch File
 ---------------
-The entire launch file is :codedir:`here <motion_planning_api/launch/motion_planning_api_tutorial.launch>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.
+The entire launch file is :codedir:`here <motion_planning_api/launch/motion_planning_api_tutorial.launch>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.
diff --git a/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst b/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.rst
@@ -15,10 +15,6 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Running the Code
 ----------------
-Make sure you have sourced the setup files: ::
-
- source ~/ws_moveit/devel/setup.bash
-
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 
  roslaunch moveit_tutorials motion_planning_pipeline_tutorial.launch

diff --git a/doc/move_group_interface/move_group_interface_tutorial.rst b/doc/move_group_interface/move_group_interface_tutorial.rst
@@ -14,11 +14,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Running the Code
 ----------------
-Open two shells and make sure you have re-sourced the setup files in both of them: ::
-
-  source ~/ws_moveit/devel/setup.bash
-
-In the first shell start RViz and wait for everything to finish loading: ::
+Open two shells. In the first shell start RViz and wait for everything to finish loading: ::
 
   roslaunch panda_moveit_config demo.launch
 
@@ -53,4 +49,4 @@ The entire code can be seen :codedir:`here in the MoveIt! GitHub project<move_gr
 
 The Launch File
 ---------------
-The entire launch file is :codedir:`here<move_group_interface/launch/move_group_interface_tutorial.launch>` on GitHub. All the code in this tutorial can be run from the **moveit_tutorials** package that you have as part of your MoveIt! setup.
+The entire launch file is :codedir:`here<move_group_interface/launch/move_group_interface_tutorial.launch>` on GitHub. All the code in this tutorial can be run from the **moveit_tutorials** package that you have as part of your MoveIt! setup.
diff --git a/doc/move_group_python_interface/move_group_python_interface_tutorial.rst b/doc/move_group_python_interface/move_group_python_interface_tutorial.rst
@@ -17,11 +17,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Start RViz and MoveGroup node
 -----------------------------
-Open two shells and make sure you have re-sourced the setup files in both shells: ::
-
-  source ~/ws_moveit/devel/setup.bash
-
-Start RViz and wait for everything to finish loading in the first shell: ::
+Open two shells. Start RViz and wait for everything to finish loading in the first shell: ::
 
   roslaunch panda_moveit_config demo.launch
 

diff --git a/doc/moveit_commander/moveit_commander_tutorial.rst b/doc/moveit_commander/moveit_commander_tutorial.rst
@@ -11,11 +11,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Starting RViz and the Command Line Tool
 ---------------------------------------
-Open two shells and make sure you have sourced the setup files in both shells: ::
-
-  source ~/ws_moveit/devel/setup.bash
-
-Start RViz and wait for everything to finish loading in the first shell: ::
+Open two shells. Start RViz and wait for everything to finish loading in the first shell: ::
 
   roslaunch panda_moveit_config demo.launch
 

diff --git a/doc/planning_scene/planning_scene_tutorial.rst b/doc/planning_scene/planning_scene_tutorial.rst
@@ -21,10 +21,6 @@ The entire launch file is :codedir:`here <planning_scene/launch/planning_scene_t
 
 Running the code
 ----------------
-Make sure you have sourced the setup files: ::
-
- source ~/ws_moveit/devel/setup.bash
-
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 
  roslaunch moveit_tutorials planning_scene_tutorial.launch
@@ -50,4 +46,4 @@ joint values so some things may be different. ::
  ros.moveit_tutorials: Test 11: Random state is feasible
  ros.moveit_tutorials: Test 12: Random state is not valid
 
-**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post <http://dav.ee/blog/notes/archives/898>`_.
+**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post <http://dav.ee/blog/notes/archives/898>`_.
diff --git a/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst b/doc/planning_scene_ros_api/planning_scene_ros_api_tutorial.rst
@@ -13,11 +13,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 Running the code
 ----------------
-Open two shells and make sure you have re-sourced the setup files in both of them: ::
-
-  source ~/ws_moveit/devel/setup.bash
-
-In the first shell start RViz and wait for everything to finish loading: ::
+Open two shells. In the first shell start RViz and wait for everything to finish loading: ::
 
   roslaunch panda_moveit_config demo.launch
 
@@ -45,4 +41,4 @@ The entire code can be seen :codedir:`here in the MoveIt! GitHub project<plannin
 
 The launch file
 ---------------
-The entire launch file is :codedir:`here <planning_scene_ros_api/launch/planning_scene_ros_api_tutorial.launch>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.
+The entire launch file is :codedir:`here <planning_scene_ros_api/launch/planning_scene_ros_api_tutorial.launch>` on GitHub. All the code in this tutorial can be compiled and run from the moveit_tutorials package.