A sphinx-based centralized documentation repo for MoveIt
These are the tutorials for MoveIt 1, for MoveIt 2 see MoveIt 2 Tutorials
This is the primary documentation for the MoveIt project. We strongly encourage you to help improve MoveIt's documentation. Please consider reading the guidelines below for writing the best documentation and tutorials. However, if you are uncomfortable with any of the approaches, simply adding documentation text to your pull requests is better than nothing.
These tutorials use the reStructuredText format commonly used in the Sphinx "Python Documentation Generator". This unfortunately differs from the common Markdown format, but its advantage is that it supports embedding code directly from source files for inline code tutorials.
All content in this repository is open source and released under the BSD License v3. Each individual source code file should contain a copy of the license.
This repository is currently built automatically by two systems. Travis builds the documentation for Melodic and ROS Build Farm builds the documentation for older versions: - Github Pages + Travis: latest - ROS Melodic Build Farm - ROS Kinetic Build Farm
indigo-develusage is discouraged
masterlatest, changes should target this branch
If you want to test the tutorials by generating the html pages locally on your machine, you can use the
build_locallyscript. Run in the root of the moveit_tutorials package:
export ROS_DISTRO=kinetic # 16.04 export ROS_DISTRO=melodic # 18.04 export ROS_DISTRO=noetic # 20.04
source /opt/ros/$ROS_DISTRO/setup.bash ./build_locally.sh
The local website
/build/html/index.htmlshould automatically open in your web browser.
For deploying documentation changes to the web, Section 3 of rosdoc_lite wiki says that "rosdoc_lite is automatically run for packages in repositories that have rosinstall files listed in the rosdistro repository." This is done about once every 24 hours, overnight.
We rely on the community to keep these tutorials up to date and bug free. If you find an issue with the tutorials please open an issue on GitHub or open a PR with proposed changes.
extlinksdictionary defined in
index.rstin the root directory.
moveit_tutorials/doc/ └── / ├── _tutorial.rst ├── CMakeLists.txt ├── package.xml ├── setup.py ├── images/ │ └── _.png ├── include/ │ └── / │ └── .h # Any custom C++ library header files ├── launch/ │ └── _tutorial.launch ├── src/ │ ├── _tutorial.cpp # Main C++ executable │ ├── .cpp # Custom C++ library source files │ └── / │ ├── __init__.py │ ├── _tutorial.py # Main Python executable │ └── .py # Custom Python libraries └── test/ # Ideally tutorials have their own integration tests ├── _tutorial.test # Launch file for tests ├── _tutorial_test.py # Python tests for tutorial └── _tutorial_test.cpp # C++ tests for tutorial
The standard way to include an image in reStructuredText is
.. image:: filename.png :width: 700px
This assumes that
filename.pngis in the same folder as the source
.rstfile. Images linked in this way will automatically be copied to the appropriate folder in the build.
Do not include animated gifs as the file format leads to very large files. Use a video format like
webmand see the section on local video below.
You can embed video with raw html, like in this example from the Pick and Place Tutorial. ``` .. raw:: html
This includes [Youtube's suggested embed html](https://support.google.com/youtube/answer/171780?hl=en).
To embed a video that is included in this repository, you also will use raw html, like this example from the Quickstart in RViz tutorial.
.. raw:: html
Note that the video file is in the `_static` folder instead of the same folder.