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Updating the tutorials #166

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merged 57 commits into from May 15, 2018

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mlautman commented May 15, 2018

Many MoveIt! users express frustration that the tutorials have not been migrated fully from previous ROS versions, and currently our example robot is the now retired PR2 robot. The PR2 does not have full support in ROS Kinetic, causing many issues when using the latest features in MoveIt!. These changes migrate the tutorials to a well supported and currently manufactured robot, including screenshots, configuration files, and launch files. These changes have been reviewed and approved by @davetcoleman and tested by a number of members of the community and Franka Emika.

Here are some of the highlights:

  • All tutorials tested and refactored for Franka Emika's Panda
  • Adds a getting started tutorial
  • Adds pictures to tutorials with a visual component
  • Refactoring of the the directory structure to be more sensible and easily traversed by first time users
  • Removing sleep timers from tutorials replacing them with ‘wait for user input’ type functionality
  • Reorders tutorials to flow demo first, code second
  • Major fixup to IKfast tutorial
  • Fixes instructions for using CHOMP
  • Adds documentation for Iterative Spline Parameterization timing in the time parameterization tutorial
  • Removes irrelevant code from in the visualizing collisions tutorial
  • Adds clang formatting

A live version of these changes can be seen at tutorials.picknik.ai

These changes are the result of collaboration between PickNik and Franka Emika.

mlautman and others added some commits Feb 7, 2018

setup assistant tutorial (#2)
* updated images with Panda
* removing old PR2 images
* updating setup assistant tutorial
Viz tutorial (#1)
* adding rosdep install and catkin config to instructions
* updating visualization tutorial
flatten directories (#3)
* flatten directories, changing github links to point to picknikrobotics rather than ros-planning
Ikfast (#7)
* ikfast tutorial
Directory refactor 2 (#9)
refactoring directory structure
Kinetic panda prereqs (#13)
* working move_group_interface tutorial

* splitting out prerequisites

* adding link to prerequisite tutorial where aproporiate

* fixing spelling errors and clarifying instructions

* fixup for prerequisites
move_group_interface tutorial (#11)
* working move_group_interface tutorial

* splitting out prerequisites

* updating images, video link, and a goal pose

* adding author

* fixing second youtube link

* removing second video link
Kinetic panda move group py (#15)
* updating move_group_python_interface tutorial
* adding video and clarifying Rviz output
* clarifying instructions for running the code
* fixing up sidebar
Kinetic panda kinematic (#18)
* kinematic_model: fixing up launch directions, cleaning up sidebar and other minor changes to kinematic_model tutorial
Planning Scene tutorial fixup (#19)
fixing self-collision example, fixing up sidebar and instructions for running example code, and renaming helper function
move group: fixing up sidebar and rewording (#27)
* fixing up sidebar and rewording

* reordering, minor fixup
minor fixup to prerequisites (#22)
* minor fixup to prerequisites

* language cleanup
Kinetic panda moveit commander (#17)
* moveit commander

* removing ref to pr2 and minor cleanup to moveit_commander tutorial

* changing bold to code
Kinetic panda collision (#25)
* fixing collision contact tutorial

* removing instructions for customizing rviz

* changing pr2 to panda

* collision contact tutorial fixup

* minor fixup to collision contact tutorials

* Collision: restoring comments
Kinematic: right_arm->panda_arm (#30)
* Kinematic: right_arm->panda_arm

* reordering, and adding blurbs on RobotState as well as RobotModel

* adding image to top of tutorial
Kinetic panda vis (#31)
* updating rviz tutorial: removing unnecessary line breaks, resizing collision pic
planning scene ros api (#20)
* planning scene ros api: reordering sections, adding moveit_visual_tools and populating touch links

mlautman and others added some commits Apr 19, 2018

Spelling (#44)
* github -> GitHub

* Rviz -> RViz, and rviz -> RViz

* moveit -> MoveIt!

* spelling fixes across repo

* cartesian -> Cartesian

* misc spelling fixes
Clang format (#43)
* clang formatting

* adding clang-format notes to README

* fixing build warnings
Runthrough (#42)
* visualization

* adding moveit_visual_tools depend

* install panda from src instead of deb

* minor grammar fix

* fixing maintainer list

* minor typeo
Kinetic panda mgpi (#45)
* move_group_python_interface fixup
Custom Constraint Samplers (#50)
* still a stub, but at least it is no longer porly formatted
* remove hrp2jsk
chomp updates (#47)
* chomp updates
Test mgpi (#49)
* move_group_python_interface fixup
* copying class variables to local variables for cleaner tutorials
* testable code
Kinetic chomp (#57)
* adding changes to move_group.launch
* very minor fixup to chomp
Clarified longest_valid_segment, also talked about max_waypoint_dist. (
…#165)

* Clarified longest_valid_segment, also talked about max_waypoint_dist.

* Fixed one of the travis warnings.
Pics (#51)
* adding image to top of page
* picture first
Trajec exec manager (#66)
* Document trajectory execution manager
Kinetic joy (#53)
* Joystick commands with the Panda
* adding joy to deps
* media
Restoring dir and fname standardization (#67)
* updating visualization file name and references in accordance to renaming tutorial

* updating visualizing collisions file name and references in accordance to renaming tutorial

* updating robot model and robot state file name and references in accordance to renaming tutorial

* updating moveit commander scripting file name and references in accordance to renaming tutorial
adding moveit visual tools prompt as breakpoints (#55)
* adding moveit visual tools prompt as breakpoints

* minor fixup
conf.py Outdated
@@ -36,9 +36,9 @@

html_context = {
"display_github": True,
"github_user": "ros-planning",
"github_user": "PickNikRobotics",

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davetcoleman May 15, 2018

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change back

Within your `catkin <http://wiki.ros.org/catkin>`_ workspace, download these tutorials: ::

cd ~/ws_moveit/src
git clone https://github.com/PickNikRobotics/moveit_tutorials.git

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@davetcoleman

You will also need a ``panda_moveit_config`` package to follow along with these tutorials:

git clone https://github.com/PickNikRobotics/panda_moveit_config.git

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davetcoleman May 15, 2018

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change this

move the repo to ros-planning, lmk if you need permission for this

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mlautman May 15, 2018

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I get You don’t have the permission to create repositories on ros-planning

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@davetcoleman

Using CHOMP with Your Robot
---------------------------
**Note:** if you are following this demo using the ``panda_moveit_config`` from the `PickNikRobotics/panda_moveit_config <https://github.com/PickNikRobotics/panda_moveit_config>`_ repository, these steps are already done for you and you can skip this section.

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davetcoleman May 15, 2018

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do find replace all of this URL to the fancy github_user thing

@davetcoleman

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davetcoleman commented May 15, 2018

Several notes:

  • The CI is broken because of ruby and should probably just be disabled. Please ignore
  • Still pending is a visual refresh of the tutorials CSS
  • Still pending is a visual refresh of the main moveit website
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These changes have been extensively reviewed by myself and many other contributors who have been using our temporary fork at tutorials.picknik.ai

@davetcoleman davetcoleman merged commit c8fe535 into ros-planning:kinetic-devel May 15, 2018

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davetcoleman commented May 15, 2018

Great job @mlautman ! 🎊

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