removing hardcoded urls with conf variables (#292)

Author: mlautman

conf.py

@@ -46,24 +46,23 @@
 #  "logo": "logo.png"
 }
 
-# Experimental
-
-
-
 # Add any paths that contain custom themes here, relative to this directory.
 
 # Links
+ros_distro = 'melodic'
 extlinks = {'codedir': ('https://github.com/' + html_context["github_user"] + '/moveit_tutorials/tree/' + html_context["github_version"] + '/doc/%s', ''),
             'moveit_codedir': ('https://github.com/' + html_context["github_user"] + '/moveit/blob/' + html_context["github_version"] + '/%s', ''),
-            'moveit_core': ('http://docs.ros.org/melodic/api/moveit_core/html/classmoveit_1_1core_1_1%s.html', ''),
-            'planning_scene': ('http://docs.ros.org/melodic/api/moveit_core/html/classplanning__scene_1_1%s.html', ''),
-            'planning_scene_interface': ('http://docs.ros.org/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
-            'planning_scene_monitor': ('http://docs.ros.org/melodic/api/moveit_ros_planning/html/classplanning__scene__monitor_1_1%s.html', ''),
-            'collision_detection_struct': ('http://docs.ros.org/melodic/api/moveit_core/html/structcollision__detection_1_1%s.html', ''),
-            'collision_detection_class': ('http://docs.ros.org/melodic/api/moveit_core/html/classcollision__detection_1_1%s.html', ''),
-            'kinematic_constraints': ('http://docs.ros.org/melodic/api/moveit_core/html/classkinematic__constraints_1_1%s.html', ''),
-            'moveit_core_files': ('http://docs.ros.org/melodic/api/moveit_core/html/%s.html', ''),
-            'move_group_interface': ('http://docs.ros.org/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
+            'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + ros_distro + '-devel' + '/%s', ''),
+            'rosdocs': ('http://docs.ros.org/' + ros_distro + '/api/%s', ''),
+            'moveit_core': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classmoveit_1_1core_1_1%s.html', ''),
+            'planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classplanning__scene_1_1%s.html', ''),
+            'planning_scene_interface': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
+            'planning_scene_monitor': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning/html/classplanning__scene__monitor_1_1%s.html', ''),
+            'collision_detection_struct': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/structcollision__detection_1_1%s.html', ''),
+            'collision_detection_class': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classcollision__detection_1_1%s.html', ''),
+            'kinematic_constraints': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classkinematic__constraints_1_1%s.html', ''),
+            'moveit_core_files': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/%s.html', ''),
+            'move_group_interface': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
             'moveit_website': ('http://moveit.ros.org/%s/', '')}
 
 # Output file base name for HTML help builder.

doc/benchmarking/benchmarking_tutorial.rst

@@ -1,3 +1,6 @@
+
+
+
 Benchmarking
 =====================
 
@@ -9,7 +12,7 @@ Getting Started
 ---------------
 If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
 
-The `benchmarking package <https://github.com/ros-planning/moveit/tree/melodic-devel/moveit_ros/benchmarks>`_ provides methods to benchmark motion planning algorithms and aggregate/plot statistics using the OMPL Planner Arena.
+The :moveit_codedir:`benchmarking package <moveit_ros/benchmarks>` provides methods to benchmark motion planning algorithms and aggregate/plot statistics using the OMPL Planner Arena.
 The example below demonstrates how the benchmarking can be run for a Panda robot arm.
 
 Example

doc/chomp_planner/chomp_planner_tutorial.rst

@@ -21,9 +21,9 @@ Using CHOMP with Your Robot
 ---------------------------
 **Note:** if you are following this demo using the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config <https://github.com/ros-planning/panda_moveit_config>`_ repository, these steps are already done for you and you can skip this section.
 
-#. Simply download `chomp_planning_pipeline.launch.xml <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/launch/chomp_planning_pipeline.launch.xml>`_ file into the launch directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory.
+#. Simply download :panda_codedir:`chomp_planning_pipeline.launch.xml<launch/chomp_planning_pipeline.launch.xml>` file into the launch directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory.
 #. Adjust the line ``<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" />`` to ``<rosparam command="load" file="$(find <robot_moveit_config>)/config/chomp_planning.yaml" />`` replacing ``<robot_moveit_config>`` with the name of your MoveIt! configuration package.
-#. Download `chomp_planning.yaml <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/chomp_planning.yaml>`_ file into the config directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/config`` directory.
+#. Download :panda_codedir:`chomp_planning.yaml <config/chomp_planning.yaml>` file into the config directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/config`` directory.
 #. Open ``chomp_planning.yaml`` in your favorite editor and change ``animate_endeffector_segment: "panda_rightfinger"`` to the appropriate link for your robot.
 #. Copy the ``demo.launch`` file to ``demo_chomp.launch``. Note that this file is also in the launch directory of your MoveIt! config package. In our case, the ``panda_moveit_config/launch`` directory.
 #. Find the lines where ``move_group.launch`` is included and change it to: ::
@@ -72,7 +72,7 @@ Next, in RViz, select CHOMP in the MotionPlanning pannel under the Context tab.
 
 Tweaking some of the parameters for CHOMP
 -----------------------------------------
-CHOMP has some optimization parameters associated with it. These can be modified for the given environment/robot you are working with and is normally present in the `chomp_planning.yaml <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/chomp_planning.yaml>`_ file in config folder of the robot you are working with. If this file does not exist for your robot, you can create it and set the parameter values as you want. The following are some of the insights to set up these parameter values for some of them:
+CHOMP has some optimization parameters associated with it. These can be modified for the given environment/robot you are working with and is normally present in the :panda_codedir:`chomp_planning.yaml <config/chomp_planning.yaml>` file in config folder of the robot you are working with. If this file does not exist for your robot, you can create it and set the parameter values as you want. The following are some of the insights to set up these parameter values for some of them:
 
 - *planning_time_limit*: the maximum time the optimizer can take to find a solution before terminating
 
@@ -127,7 +127,7 @@ Using OMPL as a pre-processor for CHOMP
 Here, it is demonstrated that CHOMP can also be used as a post-processing optimization technique for plans obtained by other planning algorithms. The intuition behind this is that some randomized planning algorithm produces an initial guess for CHOMP. CHOMP then takes this initial guess and further optimizes the trajectory.
 To achieve this, follow the steps:
 
-#. Open the ``ompl_planning_pipeline.launch`` file in the ``<robot_moveit_config>/launch`` folder of your robot. For the Panda robot it is `this <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/launch/ompl_planning_pipeline.launch.xml>`_ file. Edit this launch file, find the lines where ``<arg name="planning_adapters">`` is mentioned and change it to: ::
+#. Open the ``ompl_planning_pipeline.launch`` file in the ``<robot_moveit_config>/launch`` folder of your robot. For the Panda robot it is :panda_codedir:`this <launch/ompl_planning_pipeline.launch.xml>` file. Edit this launch file, find the lines where ``<arg name="planning_adapters">`` is mentioned and change it to: ::
 
     <arg name="planning_adapters"
          value="default_planner_request_adapters/FixWorkspaceBounds

doc/kinematics_configuration/kinematics_configuration_tutorial.rst

@@ -6,7 +6,7 @@ In this section, we will examine some of the parameters for configuring kinemati
 The kinematics.yaml file
 ------------------------
 
-The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the `panda_moveit_config GitHub project <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/kinematics.yaml>`_: ::
+The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the :panda_codedir:`panda_moveit_config GitHub project <config/kinematics.yaml>`: ::
 
  panda_arm:
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin

doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py

@@ -38,9 +38,7 @@
 ##
 ## To use the Python MoveIt! interfaces, we will import the `moveit_commander`_ namespace.
 ## This namespace provides us with a `MoveGroupCommander`_ class, a `PlanningSceneInterface`_ class,
-## and a `RobotCommander`_ class. (More on these below)
-##
-## We also import `rospy`_ and some messages that we will use:
+## and a `RobotCommander`_ class. More on these below. We also import `rospy`_ and some messages that we will use:
 ##
 
 import sys

doc/ompl_interface/ompl_interface_tutorial.rst

@@ -15,7 +15,7 @@ The ``longest_valid_segment_fraction`` defines the discretization of robot motio
 
 Specifically, ``longest_valid_segment_fraction`` is the fraction of the robot's state space that, given the robot isn't currently in collision, we assume the robot can travel while remaining collision free. For example, if ``longest_valid_segment_fraction = 0.01``, then we assume that if an edge between two nodes is less than 1/100th of the state space, then we don't need to explicity check any sub-states along that edge, just the two nodes it connects.
 
-In addition to the ``longest_valid_segment_fraction`` parameter in the ``ompl_planning.yaml`` file, there is also the ``maximum_waypoint_distance``, found in the `dynamic reconfigure file <https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg#L9>`_. ``maximum_waypoint_distance`` defines the same discretization of robot motions for collision checking, but it does so at an absolute level instead of using fractions of the state space. For example, if ``maximum_waypoint_distance = 0.1``, then if an edge is shorter than ``0.1`` in state space distance, then we don't explicitly check any sub-states along that edge.
+In addition to the ``longest_valid_segment_fraction`` parameter in the ``ompl_planning.yaml`` file, there is also the ``maximum_waypoint_distance``, found in the :moveit_codedir:`dynamic reconfigure file <moveit_planners/ompl/ompl_interface/cfg/OMPLDynamicReconfigure.cfg#L9>`. ``maximum_waypoint_distance`` defines the same discretization of robot motions for collision checking, but it does so at an absolute level instead of using fractions of the state space. For example, if ``maximum_waypoint_distance = 0.1``, then if an edge is shorter than ``0.1`` in state space distance, then we don't explicitly check any sub-states along that edge.
 
 If both ``longest_valid_segment_fraction`` and ``maximum_waypoint_distance`` are set, then the variable that produces the most conservative discretization (the one that would generate the most states to collision check on a given edge) is chosen.
 

doc/perception_pipeline/perception_pipeline_tutorial.rst

@@ -23,7 +23,8 @@ In this section, we will walk through configuring the 3D sensors on your robot w
 YAML Configuration file (Point Cloud)
 +++++++++++++++++++++++++++++++++++++
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Melodic <https://github.com/ros-planning/panda_moveit_config>`_.
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see :panda_codedir:`this example file<config/sensors_kinect_pointcloud.yaml>` for processing point clouds.
+
 Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_pointcloud.yaml": ::
 
  sensors:
@@ -59,7 +60,7 @@ Save this file in the config folder in the robot's moveit_config package with na
 YAML Configuration file (Depth Map)
 +++++++++++++++++++++++++++++++++++
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repository <https://github.com/ros-planning/panda_moveit_config>`_ as well.
+We will have to generate a YAML configuration file for configuring the 3D sensors. An :panda_codedir:`example file for processing depth images <config/sensors_kinect_depthmap.yaml>` can be found in the panda_moveit_config repository as well.
 Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_depthmap.yaml": ::
 
  sensors:
@@ -168,7 +169,9 @@ You can follow its status in the `issue tracker <https://github.com/ros-planning
 
 Relevant Code
 +++++++++++++
-The entire code can be seen :codedir:`here <perception_pipeline>` in the moveit_tutorials GitHub project. The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented `here. <http://wiki.ros.org/pcl/Tutorials>`_
+The entire code can be seen :codedir:`here<perception_pipeline>` in the moveit_tutorials GitHub project.
+
+The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented `here <http://wiki.ros.org/pcl/Tutorials>`_.
 
 .. |br| raw:: html
 

doc/time_parameterization/time_parameterization_tutorial.rst

@@ -12,11 +12,11 @@ By default MoveIt! sets the velocity and acceleration of a joint trajectory to t
 
 During Runtime
 ^^^^^^^^^^^^^^
-The speed of a parameterized kinematic trajectory can also be modified during runtime as a fraction of the max velocity and acceleration set in the configuration values, as a value between 0-1. To change the speed on a per-motion plan basis, you can set the two scaling factors as described in `MotionPlanRequest.msg <http://docs.ros.org/melodic/api/moveit_msgs/html/msg/MotionPlanRequest.html>`_. Spinboxes for setting both of those factors are also available in the `MoveIt! MotionPlanning RViz plugin <../quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
+The speed of a parameterized kinematic trajectory can also be modified during runtime as a fraction of the max velocity and acceleration set in the configuration values, as a value between 0-1. To change the speed on a per-motion plan basis, you can set the two scaling factors as described in :rosdocs:`MotionPlanRequest.msg </moveit_msgs/html/msg/MotionPlanRequest.html>`. Spinboxes for setting both of those factors are also available in the `MoveIt! MotionPlanning RViz plugin <../quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
 
 Time Parameterization Algorithms
 --------------------------------
-MoveIt! can support different algorithms for post-processing a kinematic trajectory to add timestamps and velocity/acceleration values. Currently two are available by default in MoveIt!: `Iterative Parabolic Time Parameterization <https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp>`_, and `Iterative Spline Parameterization <https://github.com/ros-planning/moveit/blob/melodic-devel/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp>`_.
+MoveIt! can support different algorithms for post-processing a kinematic trajectory to add timestamps and velocity/acceleration values. Currently two are available by default in MoveIt!: :moveit_codedir:`Iterative Parabolic Time Parameterization<moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp>`, and :moveit_codedir:`Iterative Spline Parameterization<moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp>`.
 
 The Iterative Parabolic Time Parameterization algorithm is used by default in the `Motion Planning Pipeline <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html>`_ as a Planning Request Adapter as documented in `this tutorial <../motion_planning_pipeline/motion_planning_pipeline_tutorial.html#using-a-planning-request-adapter>`_. Although the Iterative Parabolic Time Parameterization algorithm MoveIt! uses has been used by hundreds of robots over the years, there is known `bug with it <https://github.com/ros-planning/moveit/issues/160>`_.