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Improve Getting Started: declare building MoveIt from source as optional #781

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16 changes: 11 additions & 5 deletions doc/getting_started/getting_started.rst
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Expand Up @@ -16,22 +16,28 @@ Once you have ROS installed, make sure you have the most up to date packages: ::

Install `catkin <http://wiki.ros.org/catkin>`_ the ROS build system: ::

sudo apt install ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon
sudo apt install ros-noetic-catkin python3-catkin-tools

Install `wstool <http://wiki.ros.org/wstool>`_ : ::

sudo apt install python3-wstool

Create A Catkin Workspace and Download MoveIt Source
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Because the version of the tutorials uses the ``master`` branch which is being actively developed, you will most likely need to build all of MoveIt from source. You will need to have a `catkin <http://wiki.ros.org/catkin>`_ workspace setup: ::
Create a Catkin Workspace
^^^^^^^^^^^^^^^^^^^^^^^^^
You will need to have a `catkin <http://wiki.ros.org/catkin>`_ workspace setup: ::

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src

Download MoveIt Source
^^^^^^^^^^^^^^^^^^^^^^
Because the tutorials are actively developed in sync with MoveIt's master, you will most likely need to build all of MoveIt from source.
To this end, follow the instructions below. However, building MoveIt from source takes roughly an hour, so you might want to skip this step for now and try using the binary Debian packages first.
Come back to this step, if building of your workspace fails due to unknown symbols! ::

wstool init .
wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool remove moveit_tutorials # this is cloned in the next section
wstool remove moveit_tutorials # this is cloned in the next section
wstool update -t .

Download Example Code
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