Modified Luanch files tutorial, added a note to the README. #1008

Jakeisthesnake · 2025-01-15T16:57:47Z

Description

Launch File tutorial
Added explanations for the member function of MoveItConfigsBuilder.
Added note about launch nodes for custom .cpp files.
Having made these suggestions, I now wonder if I am being too verbose and just cluttering up the documentation when someone wanting to learn more can do what I did and read the source code. So maybe the launch file tutorial should remain unchanged.

README
Added a note that building MoveIt can be skipped if only adding explanations, note any executable code. This is mostly addressing my own pain of building MoveIt (about a 3-4 hour process) and I could see it stopping someone from adding a few helpful comments.

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

Required by CI: Code is auto formatted using clang-format
While waiting for someone to review your request, please consider reviewing another open pull request to support the maintainers

…mber funtions. Added note to Launch FIles tutorial about nodes for custom cpp files. Added note to README.md that building Moveit is not needed if only adding explinations, not exectuable code. This is mostly addressing the pain I feel of building MoveIt (3-4 hours on my laptop). Maybe I am an anomily.

Jakeisthesnake · 2025-01-17T15:56:42Z

As an aside, I would have liked to add more about '.planning_scene_monitor()' regarding when you need to set its parameters to be true, but I haven't found good explanations regarding common uses cases. If you can point me in the direction of where to learn more, I would be happy to add that info to the tutorial.

sea-bass

Thank you for getting this started!

My first response here is that the information being added is largely already available in other tutorials. I would recommend reading through some of the other pages I've linked in the comments, and seeing if there's a better way to take advantage of cross-linking doc pages, but keeping each individual page focused on a specific subset of topics.

sea-bass · 2025-01-16T22:12:45Z

README.md

@@ -29,6 +29,8 @@ Below are some links to help with the ports.

 ## MoveIt Tutorials Source Build

+(This section can be skipped if you aren't adding executable code. You don't need to build MoveIt to add an explanation about something.)


I would remove this

sea-bass · 2025-01-20T15:51:09Z

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

+``MoveItConfigsBuilder(package_name="package_name")``  will search for a package named "package_name".
+``MoveItConfigsBuilder("robot_name")`` will search for an explicitly given package name.


might be more readable to have this be a bulleted list

sea-bass · 2025-01-20T15:52:01Z

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

@@ -44,10 +44,44 @@ A handy way to refer to a MoveIt configuration package is to use the ``MoveItCon
        .to_moveit_configs()
    )

+``MoveItConfigsBuilder`` (`defined here <https://github.com/moveit/moveit2/blob/main/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py>`_) can take a few different types of arguments.


Note there is already another doc page that talks about this -- maybe cross-link / consider putting some of this there?

https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html

sea-bass · 2025-01-20T15:53:12Z

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

+Launching a custom .cpp file
+----------------------------
+
+While not part of the Getting Started tutorial, another common node to launch is one that executes a custom .cpp file:


A custom .cpp file doesn't sound technically precise -- I think what you may want to say is "a custom executable".

Also, this in isolation may not be entirely helpful if you also don't show a CMakeLists.txt snippet showing how to actually compile this executable.

But generally, there are other tutorials like https://moveit.picknik.ai/main/doc/tutorials/your_first_project/your_first_project.html which already cover this in full detail.

sea-bass · 2025-01-20T15:53:49Z

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

+        parameters=[your,
+                    parameters,
+                    here],


I wouldn't consider this too helpful because I always forget what the actual format of the parameters is -- it's a list of dictionaries or something? So I may consider using a real, valid input here instead of placeholder text.

Jakeisthesnake · 2025-01-20T21:19:21Z

Ok, I'll make those edits. Do you know if any of the tutorials discuss the parameters for .planning_scene_monitor()? It seems lacking from the moveit_configuration_tutorial.

sea-bass · 2025-01-20T21:21:15Z

Ok, I'll make those edits. Do you know if any of the tutorials discuss the parameters for .planning_scene_monitor()? It seems lacking from the moveit_configuration_tutorial.

Thanks!

Maybe those could be mapped to the concepts page at https://moveit.picknik.ai/main/doc/concepts/planning_scene_monitor.html and/or https://moveit.picknik.ai/main/doc/examples/planning_scene_monitor/planning_scene_monitor_tutorial.html ?

Jakeisthesnake · 2025-01-20T21:25:21Z

Yeah, I can start with those.

Jakeisthesnake · 2025-01-24T16:44:03Z

If I wanted to cross link to the CMakeLists.txt file in the root moveit2_tutorials directory, how would I do that?
:doc:moveit2_tutorials/CMakeLists.txt (the backticks turn "moveit2_tutorials/CMakeLists.txt" into inline code)
doesn't seem to work. I assume that is because :doc: only works for files in the doc folder? I also assume that it would be poor form to directly link to "https://github.com/moveit/moveit2_tutorials/blob/main/CMakeLists.txt"

sea-bass · 2025-01-25T01:12:33Z

If I wanted to cross link to the CMakeLists.txt file in the root moveit2_tutorials directory, how would I do that? :doc:moveit2_tutorials/CMakeLists.txt (the backticks turn "moveit2_tutorials/CMakeLists.txt" into inline code) doesn't seem to work. I assume that is because :doc: only works for files in the doc folder? I also assume that it would be poor form to directly link to "https://github.com/moveit/moveit2_tutorials/blob/main/CMakeLists.txt"

I believe you can use :codedir: -- you can see the definitions here, and also search for similar usages in the .rst files in these docs.

There are other handy ones for linking to e.g. source code in the MoveIt 2 repo, etc.

Jakeisthesnake · 2025-01-25T01:56:25Z

Thanks!

Jakeisthesnake · 2025-01-25T02:11:33Z

I may be reading the definition wrong, but it looks like codedir can only reference stuff in the doc folder?

"codedir": (
        "https://github.com/"
        + html_context["github_user"]
        + "/moveit2_tutorials/blob/"
        + html_context["github_version"]
        + "doc/%s",
        "",

sea-bass · 2025-01-25T18:49:54Z

It does look that way -- maybe instead of linking to the existing repo's CMakeLists.txt, you can just copy-paste a small relevant snippet of what you intend to show?

I assume this is just the compilation of a specific executable given source files?

Jakeisthesnake added 3 commits January 15, 2025 08:22

Corrected some spelling.

d61561a

Spelling corrections.

699f177

sea-bass reviewed Jan 20, 2025

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Modified Luanch files tutorial, added a note to the README. #1008

Modified Luanch files tutorial, added a note to the README. #1008

Jakeisthesnake commented Jan 15, 2025

Jakeisthesnake commented Jan 17, 2025

sea-bass left a comment

sea-bass Jan 16, 2025

sea-bass Jan 20, 2025

sea-bass Jan 20, 2025

sea-bass Jan 20, 2025 •

edited

Loading

sea-bass Jan 20, 2025

Jakeisthesnake commented Jan 20, 2025

sea-bass commented Jan 20, 2025

Jakeisthesnake commented Jan 20, 2025

Jakeisthesnake commented Jan 24, 2025 •

edited

Loading

sea-bass commented Jan 25, 2025

Jakeisthesnake commented Jan 25, 2025

Jakeisthesnake commented Jan 25, 2025

sea-bass commented Jan 25, 2025

		@@ -29,6 +29,8 @@ Below are some links to help with the ports.

		## MoveIt Tutorials Source Build

		(This section can be skipped if you aren't adding executable code. You don't need to build MoveIt to add an explanation about something.)

		``MoveItConfigsBuilder(package_name="package_name")`` will search for a package named "package_name".
		``MoveItConfigsBuilder("robot_name")`` will search for an explicitly given package name.

Modified Luanch files tutorial, added a note to the README. #1008

Are you sure you want to change the base?

Modified Luanch files tutorial, added a note to the README. #1008

Conversation

Jakeisthesnake commented Jan 15, 2025

Description

Checklist

Jakeisthesnake commented Jan 17, 2025

sea-bass left a comment

Choose a reason for hiding this comment

sea-bass Jan 16, 2025

Choose a reason for hiding this comment

sea-bass Jan 20, 2025

Choose a reason for hiding this comment

sea-bass Jan 20, 2025

Choose a reason for hiding this comment

sea-bass Jan 20, 2025 • edited Loading

Choose a reason for hiding this comment

sea-bass Jan 20, 2025

Choose a reason for hiding this comment

Jakeisthesnake commented Jan 20, 2025

sea-bass commented Jan 20, 2025

Jakeisthesnake commented Jan 20, 2025

Jakeisthesnake commented Jan 24, 2025 • edited Loading

sea-bass commented Jan 25, 2025

Jakeisthesnake commented Jan 25, 2025

Jakeisthesnake commented Jan 25, 2025

sea-bass commented Jan 25, 2025

sea-bass Jan 20, 2025 •

edited

Loading

Jakeisthesnake commented Jan 24, 2025 •

edited

Loading