Update some references from Kinetic to Melodic

Author: rhaschke

.github/ISSUE_TEMPLATE.md

@@ -3,8 +3,8 @@
 Overview of your issue here.
 
 ### Your environment
-* ROS Distro: [Indigo|Jade|Kinetic]
-* OS Version: e.g. Ubuntu 16.04
+* ROS Distro: [Kinetic|Melodic|Noetic]
+* OS Version: e.g. Ubuntu 18.04
 * Source or Binary build?
 * If binary, which release version?
 * If source, which git commit or tag?

README.md

@@ -14,16 +14,16 @@ This repository is currently built automatically by two systems. Travis builds t
 
 ## Versions
 
-- ``indigo-devel`` usage is discouraged
-- ``kinetic-devel`` stable
-- ``melodic-devel`` latest, changes should target this branch
+- ``kinetic-devel`` usage is discouraged
+- ``melodic-devel`` stable
+- ``noetic-devel`` latest, changes should target this branch
 
 ## Build Locally
 
 If you want to test the tutorials by generating the html pages locally on your machine, use the following helper script.
-It has been tested on Ubuntu 16.04 with ROS Kinetic pre-installed. Run in the root of the moveit_tutorials package:
+It has been tested on Ubuntu 18.04 with ROS Melodic pre-installed. Run in the root of the moveit_tutorials package:
 
-    source /opt/ros/kinetic/setup.bash
+    source /opt/ros/melodic/setup.bash
     ./build_locally.sh
 
 The local website ``LOCAL_PACKAGE_PATH/build/html/index.html`` should automatically open in your web browser.

conf.py

@@ -18,9 +18,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = 'Kinetic'
+version = 'Melodic'
 # The full version, including alpha/beta/rc tags.
-release = 'Kinetic'
+release = 'Melodic'
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = 'sphinx'

doc/benchmarking/benchmarking_tutorial.rst

@@ -4,8 +4,6 @@
 Benchmarking
 =====================
 
-.. note:: This is the new benchmarking method only available in ROS Kinetic, onward.
-
 .. note:: To use this benchmarking method, you will need to download and install the ROS Warehouse plugin. Currently this is not available from Debians and requires a source install for at least some aspects. For source instructions, see `this page <http://moveit.ros.org/install/source/dependencies/>`_
 
 Getting Started

doc/stomp_planner/stomp_planner_tutorial.rst

@@ -4,7 +4,7 @@ STOMP Planner
 .. image:: stomp.png
    :width: 700px
 
-Stochastic Trajectory Optimization for Motion Planning (STOMP) is a probabilistic optimization framework (Kalakrishnan et al. 2011). STOMP produces smooth well behaved collision free paths within reasonable times. The approach relies on generating noisy trajectories to explore the space around an initial (possibly infeasible) trajectory which are then combined to produce an updated trajectory with lower cost. A cost function based on a combination of obstacle and smoothness cost is optimized in each iteration. No gradient information is required for the particular optimization algorithm that we use and so general costs for which derivatives may not be available (e.g. costs corresponding to constraints and motor torques) can be included in the cost function. Some of the strengths of STOMP include: it can incorporate additional objective functions such as torque limits, energy and tool constraints. STOMP can handle cost functions which do not need to be differentiable. It uses distance field and spherical approximations to quickly compute distance queries and collision costs. Integration into Kinetic and Melodic version of MoveIt is work in progress. `More info <https://personalrobotics.ri.cmu.edu/files/courses/papers/Kalakrishnan11-stomp.pdf>`_
+Stochastic Trajectory Optimization for Motion Planning (STOMP) is a probabilistic optimization framework (Kalakrishnan et al. 2011). STOMP produces smooth well behaved collision free paths within reasonable times. The approach relies on generating noisy trajectories to explore the space around an initial (possibly infeasible) trajectory which are then combined to produce an updated trajectory with lower cost. A cost function based on a combination of obstacle and smoothness cost is optimized in each iteration. No gradient information is required for the particular optimization algorithm that we use and so general costs for which derivatives may not be available (e.g. costs corresponding to constraints and motor torques) can be included in the cost function. Some of the strengths of STOMP include: it can incorporate additional objective functions such as torque limits, energy and tool constraints. STOMP can handle cost functions which do not need to be differentiable. It uses distance field and spherical approximations to quickly compute distance queries and collision costs. Integration into Melodic version of MoveIt is work in progress. `More info <https://personalrobotics.ri.cmu.edu/files/courses/papers/Kalakrishnan11-stomp.pdf>`_
 
 Getting Started
 ---------------
@@ -16,7 +16,7 @@ Prerequisites
 -------------
  1. You must have the latest version of MoveIt installed. On ROS Melodic you will need to build MoveIt from source. A build from source is required as STOMP is not part of the official release yet. It is therefore not included in the binary packages. We will go through the steps for doing this below.
  2. To use STOMP with your robot you must already have a MoveIt configuration package for your robot already. For example, if you have a Panda robot, it's probably called ``panda_moveit_config``. This is typically built using the `MoveIt Setup Assistant <../setup_assistant/setup_assistant_tutorial.html>`_.
- 3. You must also have built `ros-industrial/industrial_moveit package <https://github.com/ros-industrial/industrial_moveit>`_ from source. This needs to be built from source since industrial_moveit is not released as a debian yet. You only need to build the `stomp_core <https://github.com/ros-industrial/industrial_moveit/tree/kinetic-devel/stomp_core>`_ package from industrial_moveit as other packages are not required for the functionality of STOMP with moveIt.
+ 3. You must also have built `ros-industrial/industrial_moveit package <https://github.com/ros-industrial/industrial_moveit>`_ from source. This needs to be built from source since industrial_moveit is not released as a debian yet. You only need to build the `stomp_core <https://github.com/ros-industrial/industrial_moveit/tree/melodic-devel/stomp_core>`_ package from industrial_moveit as other packages are not required for the functionality of STOMP with moveIt.
 
 Installing MoveIt from Source
 ------------------------------
@@ -123,13 +123,13 @@ STOMP has some parameters associated with it. These can be modified for the give
 
 **Noise Generator Parameters**:
 
-- *class*: this can be set to "NormalDistributionSampling" (default) or "GoalGuidedMultivariateGaussian". Depending on what class is used specific parameters need to be set. Have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/kinetic-devel/stomp_plugins/example_pages.dox>`_ for setting parameters if using the "GoalGuidedMultivariateGaussian".
+- *class*: this can be set to "NormalDistributionSampling" (default) or "GoalGuidedMultivariateGaussian". Depending on what class is used specific parameters need to be set. Have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/melodic-devel/stomp_plugins/example_pages.dox>`_ for setting parameters if using the "GoalGuidedMultivariateGaussian".
 
 - *stddev*: this is the degree of noise that can be applied to the joints. Each value in this array is the amplitude of the noise applied to the joint at that position in the array. For instace, the leftmost value in the array will be the value used to set the noise of the first joint of the robot (panda_joint1 in our case). The dimensionality of this array should be equal to the number of joints in the planning group name. Larger "stddev" values correspond to larger motions of the joints.
 
 **Cost Function Parameters**:
 
-- *class*: here you can set the cost function you want to use. You could set this to "CollisionCheck", "ObstacleDistanceGradient" or "ToolGoalPose". Depending on what you put here, you need to set the appropriate cost function class's parameters: For "CollisionCheck", you need to set the parameters (collision_penalty, cost_weight, kernel_window_percentage, longest_valid_joint_nove); for "ObstacleDistanceGradient", you should set the parameters (cost_weight, max_distance, longest_valid_joint_move) and for "ToolGoalPose", you should set the parameters (constrained_dofs, position_error_range, orientation_error_range, position_cost_weight, orientation_cost_weight). Have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/kinetic-devel/stomp_plugins/example_pages.dox>`_ for setting parameters for "ToolGoalPose" class.
+- *class*: here you can set the cost function you want to use. You could set this to "CollisionCheck", "ObstacleDistanceGradient" or "ToolGoalPose". Depending on what you put here, you need to set the appropriate cost function class's parameters: For "CollisionCheck", you need to set the parameters (collision_penalty, cost_weight, kernel_window_percentage, longest_valid_joint_nove); for "ObstacleDistanceGradient", you should set the parameters (cost_weight, max_distance, longest_valid_joint_move) and for "ToolGoalPose", you should set the parameters (constrained_dofs, position_error_range, orientation_error_range, position_cost_weight, orientation_cost_weight). Have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/melodic-devel/stomp_plugins/example_pages.dox>`_ for setting parameters for "ToolGoalPose" class.
 
 - *collision_penalty*: this is the value assigned to a collision state.
 
@@ -141,7 +141,7 @@ STOMP has some parameters associated with it. These can be modified for the give
 
 **Update Filter parameters**:
 
-- class: this can be set to "PolynomialSmoother" or "ConstrainedCartesianGoal". Specific paramters need to be set depending on the chosen class. For setting parameters for "ConstrainedCartesianGoal", have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/kinetic-devel/stomp_plugins/example_pages.dox>`_.
+- class: this can be set to "PolynomialSmoother" or "ConstrainedCartesianGoal". Specific paramters need to be set depending on the chosen class. For setting parameters for "ConstrainedCartesianGoal", have a look at `this link <https://github.com/ros-industrial/industrial_moveit/blob/melodic-devel/stomp_plugins/example_pages.dox>`_.
 
 - *poly_order*: this is the order of the polynomial function used for smoothing trajectories.
 
@@ -165,6 +165,6 @@ In this section a distinction is made between paths obtained from STOMP, CHOMP a
 Running STOMP Unit Tests
 ------------------------
 
-For running the unit tests, you must have the `stomp_core <https://github.com/ros-industrial/industrial_moveit/tree/kinetic-devel/stomp_core>`_ package from `ros-industrial/industrial_moveit <https://github.com/ros-industrial/industrial_moveit>`_ repository. If these tests run successfully, this implies STOMP is successfully built and running on your system. To run the STOMP unit tests, open a terminal and do the following in your catkin workspace: ::
+For running the unit tests, you must have the `stomp_core <https://github.com/ros-industrial/industrial_moveit/tree/melodic-devel/stomp_core>`_ package from `ros-industrial/industrial_moveit <https://github.com/ros-industrial/industrial_moveit>`_ repository. If these tests run successfully, this implies STOMP is successfully built and running on your system. To run the STOMP unit tests, open a terminal and do the following in your catkin workspace: ::
 
   catkin_make run_tests_stomp_moveit stomp_moveit_utest