Small fixes to tutorials (#529)

sea-bass · web-flow · commit 94ec2e570c8d · 2022-10-11T08:44:28.000-06:00
diff --git a/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_example.cpp b/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_example.cpp
@@ -67,7 +67,7 @@ int main(int argc, char** argv)
   robot_model_loader::RobotModelLoaderPtr robot_model_loader(
       new robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION));
 
-  // Create a planing scene monitor
+  // Create a planning scene monitor
   planning_scene_monitor::PlanningSceneMonitorPtr psm(
       new planning_scene_monitor::PlanningSceneMonitor(robot_model_loader));
 
diff --git a/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp b/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
@@ -75,7 +75,7 @@ int main(int argc, char** argv)
   robot_model_loader::RobotModelLoaderPtr robot_model_loader(
       new robot_model_loader::RobotModelLoader(node, "robot_description"));
 
-  // Using the RobotModelLoader, we can construct a planing scene monitor that
+  // Using the RobotModelLoader, we can construct a planning scene monitor that
   // will create a planning scene, monitors planning scene diffs, and apply the diffs to it's
   // internal planning scene. We then call startSceneMonitor, startWorldGeometryMonitor and
   // startStateMonitor to fully initialize the planning scene monitor
diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -39,7 +39,7 @@ int main(int argc, char** argv)
   robot_model_loader::RobotModelLoaderPtr robot_model_loader(
       new robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION));
 
-  // Create a planing scene monitor
+  // Create a planning scene monitor
   planning_scene_monitor::PlanningSceneMonitorPtr psm(
       new planning_scene_monitor::PlanningSceneMonitor(robot_model_loader));
 
diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp
@@ -36,14 +36,14 @@ class MTCTaskNode
   rclcpp::Node::SharedPtr node_;
 };
 
-rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()
+MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)
+  : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }
 {
-  return node_->get_node_base_interface();
 }
 
-MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)
-  : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()
 {
+  return node_->get_node_base_interface();
 }
 
 void MTCTaskNode::setupPlanningScene()
diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp
@@ -36,14 +36,14 @@ class MTCTaskNode
   rclcpp::Node::SharedPtr node_;
 };
 
-rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()
+MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)
+  : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }
 {
-  return node_->get_node_base_interface();
 }
 
-MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)
-  : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()
 {
+  return node_->get_node_base_interface();
 }
 
 void MTCTaskNode::setupPlanningScene()
diff --git a/doc/tutorials/planning_around_objects/hello_moveit.cpp b/doc/tutorials/planning_around_objects/hello_moveit.cpp
@@ -114,7 +114,7 @@ int main(int argc, char* argv[])
   {
     draw_title("Planning Failed!");
     moveit_visual_tools.trigger();
-    RCLCPP_ERROR(logger, "Planing failed!");
+    RCLCPP_ERROR(logger, "Planning failed!");
   }
 
   // Shutdown ROS
diff --git a/doc/tutorials/visualizing_in_rviz/hello_moveit.cpp b/doc/tutorials/visualizing_in_rviz/hello_moveit.cpp
@@ -81,7 +81,7 @@ int main(int argc, char* argv[])
   {
     draw_title("Planning Failed!");
     moveit_visual_tools.trigger();
-    RCLCPP_ERROR(logger, "Planing failed!");
+    RCLCPP_ERROR(logger, "Planning failed!");
   }
 
   // Shutdown ROS
diff --git a/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst b/doc/tutorials/visualizing_in_rviz/visualizing_in_rviz.rst
@@ -144,13 +144,10 @@ After we've constructed and initialized, we now create some closures (function o
 
 Each of the three closures capture ``moveit_visual_tools`` by reference and the last one captures a pointer to the joint model group object we are planning with.
 Each of these call a function on ``moveit_visual_tools`` that changes something in RViz.
-The first one, ``draw_title`` adds text one meter above the base of the robot.
-This is a useful way to show the state of your program from a high level.
-The second one calls a function called ``prompt``.
-This function blocks your program until the user presses the ``next`` button in RViz.
-This is helpful for stepping through a program when debugging.
-The last one draws the tool path of a trajectory that we have planned.
-This is often helpful for understanding a planned trajectory from the perspective of the tool.
+
+* The first one, ``draw_title`` adds text one meter above the base of the robot. This is a useful way to show the state of your program from a high level.
+* The second one calls a function called ``prompt``. This function blocks your program until the user presses the ``next`` button in RViz. This is helpful for stepping through a program when debugging.
+* The last one draws the tool path of a trajectory that we have planned. This is often helpful for understanding a planned trajectory from the perspective of the tool.
 
 You might be asking yourself why we would create lambdas like this, and the reason is simply to make the code that comes later easier to read and understand.
 As your write software, it is often helpful to break up your functionality into named functions which can be easily reused and tested on their own.
@@ -196,7 +193,7 @@ Update your code for planning and executing to include these new features:
     } else {
       draw_title("Planning Failed!");
       moveit_visual_tools.trigger();
-      RCLCPP_ERROR(logger, "Planing failed!");
+      RCLCPP_ERROR(logger, "Planning failed!");
     }
 
 One thing you'll quickly notice is that we have to call a method called ``trigger`` on ``moveit_visual_tools`` after each call to change something rendered in RViz.
diff --git a/doc/tutorials/your_first_project/hello_moveit.cpp b/doc/tutorials/your_first_project/hello_moveit.cpp
@@ -42,7 +42,7 @@ int main(int argc, char* argv[])
   }
   else
   {
-    RCLCPP_ERROR(logger, "Planing failed!");
+    RCLCPP_ERROR(logger, "Planning failed!");
   }
 
   // Shutdown ROS
diff --git a/doc/tutorials/your_first_project/your_first_project.rst b/doc/tutorials/your_first_project/your_first_project.rst
@@ -99,7 +99,7 @@ The program should run and exit without error.
 2.2 Examine the code
 ~~~~~~~~~~~~~~~~~~~~
 
-The headers included at the top are just some standard C++ headers and the header for ROS and MoveIt that we will use later.
+The headers included at the top are just some standard C++ headers and the headers for ROS and MoveIt that we will use later.
 
 After that, we have the normal call to initialize rclcpp, and then we create our Node.
 
@@ -131,7 +131,7 @@ Lastly, we have the code to shutdown ROS.
 3 Plan and Execute using MoveGroupInterface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-In place of the comment that says "Next step goes here," add this code:
+In place of the comment that says "Next step goes here", add this code:
 
 .. code-block:: C++
 
@@ -161,7 +161,7 @@ In place of the comment that says "Next step goes here," add this code:
   if(success) {
     move_group_interface.execute(plan);
   } else {
-    RCLCPP_ERROR(logger, "Planing failed!");
+    RCLCPP_ERROR(logger, "Planning failed!");
   }
 
 3.1 Build and Run
@@ -211,7 +211,8 @@ If it fails to find that within 10 seconds, it prints this error and terminates
 3.2 Examine the code
 ~~~~~~~~~~~~~~~~~~~~
 
-The first thing we do is create the MoveGroupInterface. This object will be used to interact with move_group, which allows us to plan and execute trajectories.
+The first thing we do is create the ``MoveGroupInterface``.
+This object will be used to interact with ``move_group``, which allows us to plan and execute trajectories.
 Note that this is the only mutable object that we create in this program.
 Another thing to take note of is the second argument to the ``MoveGroupInterface`` object we are creating here: ``"panda_arm"``.
 That is the group of joints as defined in the robot description that we are going to operate on with this ``MoveGroupInterface``.
@@ -221,11 +222,13 @@ That is the group of joints as defined in the robot description that we are goin
   using moveit::planning_interface::MoveGroupInterface;
   auto move_group_interface = MoveGroupInterface(node, "panda_arm");
 
-Then, we set our target pose and plan. Note that only the target pose is set (via ``setPoseTarget``. The starting pose is implicitly the position published by joint state publisher, which could be changed using the ``MoveGroupInterface::setStartState*`` family of functions (but is not in this tutorial).
+Then, we set our target pose and plan. Note that only the target pose is set (via ``setPoseTarget``).
+The starting pose is implicitly the position published by the joint state publisher, which could be changed using the
+``MoveGroupInterface::setStartState*`` family of functions (but is not in this tutorial).
 
 One more thing to note about this next section is the use of lambdas for constructing the message type ``target_pose`` and planning.
 This is a pattern you'll find in modern C++ codebases that enables writing in a more declarative style.
-For more information about this pattern there is a couple of links at the end of this tutorial.
+For more information about this pattern there are a couple of links at the end of this tutorial.
 
 .. code-block:: C++
 

Original file line number	Diff line number	Diff line change
`@@ -36,14 +36,14 @@ class MTCTaskNode`
`36`	`36`	`rclcpp::Node::SharedPtr node_;`
`37`	`37`	`};`
`38`	`38`
`39`		`-rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()`
	`39`	`+MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)`
	`40`	`+ : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }`
`40`	`41`	`{`
`41`		`- return node_->get_node_base_interface();`
`42`	`42`	`}`
`43`	`43`
`44`		`-MTCTaskNode::MTCTaskNode(const rclcpp::NodeOptions& options)`
`45`		`- : node_{ std::make_shared<rclcpp::Node>("mtc_node", options) }`
	`44`	`+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCTaskNode::getNodeBaseInterface()`
`46`	`45`	`{`
	`46`	`+ return node_->get_node_base_interface();`
`47`	`47`	`}`
`48`	`48`
`49`	`49`	`void MTCTaskNode::setupPlanningScene()`
Original file line number	Diff line number	Diff line change
`@@ -114,7 +114,7 @@ int main(int argc, char* argv[])`
`114`	`114`	`{`
`115`	`115`	`draw_title("Planning Failed!");`
`116`	`116`	`moveit_visual_tools.trigger();`
`117`		`- RCLCPP_ERROR(logger, "Planing failed!");`
	`117`	`+ RCLCPP_ERROR(logger, "Planning failed!");`
`118`	`118`	`}`
`119`	`119`
`120`	`120`	`// Shutdown ROS`
Original file line number	Diff line number	Diff line change
`@@ -81,7 +81,7 @@ int main(int argc, char* argv[])`
`81`	`81`	`{`
`82`	`82`	`draw_title("Planning Failed!");`
`83`	`83`	`moveit_visual_tools.trigger();`
`84`		`- RCLCPP_ERROR(logger, "Planing failed!");`
	`84`	`+ RCLCPP_ERROR(logger, "Planning failed!");`
`85`	`85`	`}`
`86`	`86`
`87`	`87`	`// Shutdown ROS`
Original file line number	Diff line number	Diff line change
`@@ -42,7 +42,7 @@ int main(int argc, char* argv[])`
`42`	`42`	`}`
`43`	`43`	`else`
`44`	`44`	`{`
`45`		`- RCLCPP_ERROR(logger, "Planing failed!");`
	`45`	`+ RCLCPP_ERROR(logger, "Planning failed!");`
`46`	`46`	`}`
`47`	`47`
`48`	`48`	`// Shutdown ROS`