Correcting the package name

[shivangg]

Correcting the name of the ROS package containing the move_group_interface_tutorials.launch

[v4hn]

As far as I can see the proposed change is not correct.
We recently merged the separate tutorials and if I understand this right, even on indigo the current official tutorial package became moveit_tutorials.

@davetcoleman and @130s were involved with the changes, so one of them hopefully has time to look at this :)

[130s]

Took me sometime to figure this out, but I would say the proposed change is correct.
pr2_moveit_tutorials was moved to ros-planning/moveit_tutorials repo but the package name remained the same.

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 14.04.5 LTS
Release:        14.04
Codename:       trusty
$ roslaunch pr2_moveit_tutorials move_group_   (tabbing)
move_group_interface_tutorial.launch         move_group_python_interface_tutorial.launch
$ roslaunch moveit_tutorials   (tabbing but nothing is returned)

This PR is targeted indigo-devel. I think we can cherry-pick to kinetic-devel too.

$ git checkout indigo-devel 
$ find . -iname move_group_interface_tutorial.launch
./doc/pr2_tutorials/planning/launch/move_group_interface_tutorial.launch
$ git checkout kinetic-devel 
$ find . -iname move_group_interface_tutorial.launch
./doc/pr2_tutorials/planning/launch/move_group_interface_tutorial.launch

(I just found moveit_tutorials isn't released into Kinetic but that's another story).

[v4hn]

So we never released the moveit_tutorials repo into indigo and I suspect this is the main source of confusion here.
As far as I can see, when you build this repository yourself in indigo, the documentation is correct and roslaunch moveit_tutorials move_group_interface_tutorial.launch should work just as the equivalent with pr2_moveit_tutorials.
If you just installed the binary packages, then there is no package moveit_tutorials, so roslaunch fails.
Is that right?

[130s]

Oh, ok. Now I see the real problem as @v4hn raises.

As far as I can see, when you build this repository yourself in indigo, the documentation is correct and roslaunch moveit_tutorials move_group_interface_tutorial.launch should work just as the equivalent with pr2_moveit_tutorials.

Yes.
To be clearer, pr2_moveit_tutorials in this case doesn't work since it's not made as ROS package (no package.xml available).

If you just installed the binary packages, then there is no package moveit_tutorials, so roslaunch fails.

Yes.

we never released the moveit_tutorials repo into indigo and I suspect this is the main source of confusion here.

Looks like it's not yet, only doc entry is registered. But the package pr2_moveit_tutorials IS released into Indigo within moveit_pr2, that is why I was able to rospack find it with its binary installed

Solution I can think of is to do both:

• On moveit_pr2 remove pr2_moveit_tutorials and repo, pr2_moveit_tutorials is already removed (i.e. moved to this repo) so make a new release the one that does not contain pr2_moveit_tutorials.
• On moveit_tutorials, either:
  • fix pr2_moveit_tutorials packaging. This enables us to add other *_moveit_tutorials packages in the future.
  • use moveit_tutorials (so drop this PR). This is easier but in the future once PR2 packages would become unavailable (I hope this won't happen though) then we have to update tutorials again.

[v4hn]

On Sun, Feb 26, 2017 at 08:56:32AM -0800, Isaac I.Y. Saito wrote: Solution I can think of is to do both: - On `moveit_pr2` remove `pr2_moveit_tutorials` and make a new release.

I'd like to avoid removing the `pr2_moveit_tutorials` package in indigo. But I think we could simply release the `moveit_tutorials` package in indigo *too*, right?

- On `moveit_tutorials`, either: - fix `pr2_moveit_tutorials` packaging. This enables us to add other `*_moveit_tutorials` packages in the future - use `moveit_tutorials` (so drop this PR). This is easier but in the future once PR2 packages would become unavailable (I hope not though) then we have to update tutorials again.

@davetcoleman pushed the repository consolidation of `moveit_tutorials` to have all documentation in one place. +1 to keep it that way in the future.

[130s]

I'd like to avoid removing the pr2_moveit_tutorials package in indigo.
But I think we could simply release the moveit_tutorials package in indigo too, right?

Well, I'm afraid that that would:

• duplicate the resource in binary space, one under moveit_tutorials and the other under pr2_moveit_tutorials.
• prevent us from making a new release of moveit_pr2 into Indigo (because pr2_moveit_tutorials is already removed from its source repo (i.e. moved to this repo), its binary would also be removed upon a new release).

I think we can release pr2_moveit_tutorials from moveit_tutorials repo.

• To avoid folder re-structuring, releasing pr2_tutorials folder as a pr2_moveit_tutorials package would be the best IMO.
• In that case, some/many MoveIt! tutorial pages may need modified (as this PR suggests), because the resource stored under pr2_tutorials folder would be accessed via a ROS package pr2_moveit_tutorials (not via moveit_tutorials any more).

If this sounds good I can open a PR for the necessary change to this repo for the release.

[v4hn]

@shivangg as you can see this is more of a political/organizational discussion.
For now, the plain fix is to checkout this repository and build it in your own workspace.
roslaunch moveit_tutorials ... will work there.

@130s you raised an interesting point in #65 .
A release of moveit_tutorials does not make that much sense altogether.
I believe it is a viable option to add a section "please clone the tutorial repository into your workspace to run the tutorials" to the web-pages and just ignore that we ever released a package with tutorial binaries.

I think we can release pr2_moveit_tutorials from moveit_tutorials repo.

Again, I don't think this is a good idea. The tutorials repo is one package and imho it's a good idea to keep it that way.

prevent us from making a new release of moveit_pr2 into Indigo (because pr2_moveit_tutorials is already removed from its source repo (i.e. moved to this repo), its binary would also be removed upon a new release).

So with the current state, we can't do another release of moveit_pr2 in indigo.
I might be wrong, but if we ever want to do another release in this branch, we could create a new repository pr2_moveit_tutorials with a snapshot of the old module and point rosdistro to this repo for this one specific package, right?

[shivangg]

@v4hn Okay! That should work. Being quite new, I am still trying to get my head around ROS in general. Trying to get involved in open source.

[v4hn]

I thought so. Welcome to the community and thanks a lot for pointing out the problem! :)

[130s]

if we ever want to do another release in this branch, we could create a new repository pr2_moveit_tutorials with a snapshot of the old module and point rosdistro to this repo for this one specific package, right?

That's also possible. I assume you didn't mean that we want to do that though (quite ineffective maintenance cost-wise).

[v4hn]

@130s I didn't mean to imply there will be another indigo-release of moveit_pr2 in the future... (I'm not talking about kinetic+) But if we want to do another release, we could still do it. And if this should happen,
I'm willing to do the dirty work there.

[davetcoleman]

Sorry for being late to this discussion. I certainly hope we can keep moveit_tutorials consolidated and not split it again. Previously moveit's tutorials lived within the moveit_pr2, which has fallen in disrepair for ROS versions newer than Indigo.

when you build this repository yourself in indigo, the documentation is correct and roslaunch moveit_tutorials move_group_interface_tutorial.launch should work just as the equivalent with pr2_moveit_tutorials.

Correct. I didn't think it necessary to release as a binary since users will probably want to copy/edit/customize the scripts and config files for their robots or use cases. You can't do that with binary releases.

I think we can release pr2_moveit_tutorials from moveit_tutorials repo.

We don't want to do that... it is now called moveit_tutorials since MoveIt! is not married to the PR2 anymore.

[130s]

Yes, as we discussed above we don't want to release pr2_moveit_tutorial.

Hope the clarification #68 (and successive more PRs) helps the readers to avoid confusion like this PR.
@shivangg Thanks for report!