Fix typos and formatting in Getting Started and Python API tutorials (#696)

Co-authored-by: Stephanie Eng <[email protected]>

Author: sea-bass

doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.rst

@@ -5,7 +5,7 @@ Motion Planning Python API
 
         <iframe width="560" height="315" src="https://www.youtube.com/embed/7KvF7Dj7bz0" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 
-In this tutorial we cover the basics of the motion planning API for ``moveit_py``.
+In this tutorial, we will cover the basics of the motion planning API for ``moveit_py``.
 This tutorial is broken down into the following sections:
 
 * **Getting Started:** An outline of the tutorial setup requirements.
@@ -93,7 +93,7 @@ An example of such a configuration file is given below: ::
                         planning_time: 1.5
 
 
-The first block of the configuration file sets the planning scene monitor options such as the topics that it subsribes to (Note: if you aren't familiar with the planning scene monitor, you should consider reviewing ... ): ::
+The first block of the configuration file sets the planning scene monitor options such as the topics that it subscribes to (Note: if you aren't familiar with the planning scene monitor, consider reviewing :doc:`this tutorial </doc/examples/planning_scene_monitor/planning_scene_monitor_tutorial>` ): ::
 
         planning_scene_monitor_options:
                 name: "planning_scene_monitor"
@@ -104,7 +104,9 @@ The first block of the configuration file sets the planning scene monitor option
                 monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
                 wait_for_initial_state_timeout: 10.0
 
-The second block of the configuration file sets the planning pipelines that we wish to use. MoveIt supports multiple motion planning libraries including OMPL, PILZ industrial motion planner, Stochastic Trajectory Optimization for Motion Planning (STOMP), Search-Based Planning Library (SBPL) and Covariant Hamiltonian Optimization for Motion Planning (CHOMP) to name a few. When configuring our ``moveit_py`` node, we need to specify the configuration for planning pipelines we wish to use: ::
+The second block of the configuration file sets the planning pipelines that we wish to use.
+MoveIt supports multiple motion planning libraries including OMPL, Pilz Industrial Motion Planner, Stochastic Trajectory Optimization for Motion Planning (STOMP), Search-Based Planning Library (SBPL), and Covariant Hamiltonian Optimization for Motion Planning (CHOMP) to name a few.
+When configuring our ``moveit_py`` node, we need to specify the configuration for planning pipelines we wish to use: ::
 
         planning_pipelines:
                 pipeline_names: ["ompl", "pilz_industrial_motion_planner", "chomp", "ompl_rrt_star"]
@@ -146,11 +148,13 @@ For each of these named pipelines we must provide a configuration that identifie
                         max_acceleration_scaling_factor: 1.0
                         planning_time: 1.5
 
-These specified parameters will be made available as ``moveit_py`` node parameters and will be leveraged at runtime when performing planning. This is what we will investigate next.
+These specified parameters will be made available as ``moveit_py`` node parameters and will be leveraged at runtime when performing planning.
+This is what we will investigate next.
 
 Instantiating moveit_py and planning component
 ----------------------------------------------------
-Before we can plan motions we need to instantiate a ``moveit_py`` node and its derived planning component. We will also instantiate a rclpy logger object: ::
+Before we can plan motions, we need to instantiate a ``moveit_py`` node and its derived planning component.
+We will also instantiate a ``rclpy`` logger object: ::
 
         rclpy.init()
         logger = rclpy.logging.get_logger("moveit_py.pose_goal")
@@ -160,7 +164,8 @@ Before we can plan motions we need to instantiate a ``moveit_py`` node and its d
         panda_arm = panda.get_planning_component("panda_arm")
         logger.info("MoveItPy instance created")
 
-Using the planning component represented by the ``panda_arm`` variable we can begin to perform motion planning. We also define a helper function for planning and executing motions: ::
+Using the planning component represented by the ``panda_arm`` variable, we can begin to perform motion planning.
+We also define a helper function for planning and executing motions: ::
 
         def plan_and_execute(
                 robot,
@@ -206,8 +211,9 @@ We start exploring the ``moveit_py`` motion planning API through executing a sin
 
 Single Pipeline Planning - Robot State
 ----------------------------------------------------
-Next we will plan to a robot state.
-Such a method is quite flexible as we can alter the robot state configuration as we wish (e.g. through setting joint values), here we will just set the robot state to a random configuration for simplicity. We will use the ``set_start_state_to_current_state`` method to set the start state of the robot to its current state and the ``set_goal_state`` method to set the goal state of the robot.
+Next, we will plan to a robot state.
+Such a method is quite flexible as we can alter the robot state configuration as we wish (e.g., through setting joint values).
+Here, we will use the ``set_start_state_to_current_state`` method to set the start state of the robot to its current state and the ``set_goal_state`` method to set the goal state to a random configuration.
 We will then plan to the goal state and execute the plan: ::
 
         # instantiate a RobotState instance using the current robot model
@@ -249,7 +255,8 @@ Here we demonstrate how to set a pose goal for the end effector of the robot: ::
 
 Single Pipeline Planning - Custom Constraints
 ----------------------------------------------------
-You can also control the output of motion planning via custom constraints. Here we demonstrate planning to a configuration that satisfies a set of joint constraints: ::
+You can also control the output of motion planning via custom constraints.
+Here we demonstrate planning to a configuration that satisfies a set of joint constraints: ::
 
         # set plan start state to current state
         panda_arm.set_start_state_to_current_state()
@@ -310,13 +317,13 @@ The code for this section requires you to run a different Python file, which you
 
         ros2 launch moveit2_tutorials motion_planning_python_api_tutorial.launch.py example_file:=motion_planning_python_api_planning_scene.py
 
-Interacting with a planning scene requires you to create a planning scene monitor ::
+Interacting with a planning scene requires you to create a planning scene monitor: ::
 
         panda = MoveItPy(node_name="moveit_py_planning_scene")
         panda_arm = panda.get_planning_component("panda_arm")
         planning_scene_monitor = panda.get_planning_scene_monitor()
 
-You can then add collision objects to a planning scene using the planning scene monitor's ``read_write`` context ::
+You can then add collision objects to a planning scene using the planning scene monitor's ``read_write`` context: ::
 
         with planning_scene_monitor.read_write() as scene:
                 collision_object = CollisionObject()
@@ -339,14 +346,14 @@ You can then add collision objects to a planning scene using the planning scene
                 scene.apply_collision_object(collision_object)
                 scene.current_state.update()  # Important to ensure the scene is updated
 
-Removing objects can be achieved similarly using the ``CollisionObject.REMOVE`` operation, or by removing all objects from the scene ::
+Removing objects can be achieved similarly using the ``CollisionObject.REMOVE`` operation, or by removing all objects from the scene: ::
 
         with planning_scene_monitor.read_write() as scene:
                 scene.remove_all_collision_objects()
                 scene.current_state.update()
 
 You can also use the ``read_only`` context of a planning scene monitor for tasks that do not require modifying the scene, such as collision checking.
-For example ::
+For example: ::
 
         with planning_scene_monitor.read_only() as scene:
                 robot_state = scene.current_state

doc/tutorials/getting_started/getting_started.rst

@@ -1,22 +1,27 @@
 Getting Started
 ===============
 
-Here we will setup your environment for best running the tutorials. This will create a Colcon workspace, download all of the latest MoveIt source code, and build everything from source to ensure you have the latest fixes and improvements.
+Here, we will setup your environment for best running the tutorials.
+This will create a colcon workspace, download all of the latest MoveIt source code, and build everything from source to ensure you have the latest fixes and improvements.
 
-Building all the source code of MoveIt can take 20-30 minutes, depending on the CPU speed and available RAM of your computer. If you are on a less performant system, or generally just want to get started quicker, checkout our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
+Building all the source code of MoveIt can take 20-30 minutes, depending on the CPU speed and available RAM of your computer.
+If you are on a less performant system, or generally just want to get started quicker, check out our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
 
-Install ROS 2 and Colcon
+Install ROS 2 and colcon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 MoveIt 2 currently supports multiple versions of ROS.
 Install whichever version you prefer.
 We primarily support ROS installed Ubuntu 22.04 but other methods and platforms may work with small changes to the instructions listed below.
-If you are just getting started we would recommend you use the latest stable version of ROS (Iron) on Ubuntu 22.04 for the most seamless experience.
+If you are just getting started, we recommend you use the latest stable version of ROS (Iron) on Ubuntu 22.04 for the most seamless experience.
 
 * `Rolling Ridley <https://docs.ros.org/en/rolling/Installation.html>`_ - Rolling Development Release
-* `Irin Irwini <https://docs.ros.org/en/iron/Installation.html>`_ - Latest Stable Release - May 2023
-* `Humble Haskbill <https://docs.ros.org/en/humble/Installation.html>`_ - LTS Release - May 2022
+* `Iron Irwini <https://docs.ros.org/en/iron/Installation.html>`_ - Latest Stable Release - May 2023
+* `Humble Hawksbill <https://docs.ros.org/en/humble/Installation.html>`_ - LTS Release - May 2022
 
-It is easy to miss steps when going through the ROS 2 installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS 2 correctly.  One that users commonly forget is to source the ROS 2 install itself. Note to source the version of ROS you installed.  ::
+It is easy to miss steps when going through the ROS 2 installation tutorial.
+If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS 2 correctly.
+One that users commonly forget is to source the ROS 2 install itself.
+Note to source the version of ROS you installed.  ::
 
   source /opt/ros/iron/setup.bash
 
@@ -61,11 +66,13 @@ Next we will download the source code for the rest of MoveIt: ::
 
   vcs import < moveit2_tutorials/moveit2_tutorials.repos
 
-The import command may ask for your GitHub credentials. You can just press Enter until it moves on (ignore the "Authentication failed" error).
+The import command may ask for your GitHub credentials.
+You can just press Enter until it moves on (ignore the "Authentication failed" error).
 
 Build your Colcon Workspace
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
-The following will install from Debian any package dependencies not already in your workspace. This is the step that will install MoveIt and all of its dependencies: ::
+The following will install from Debian any package dependencies not already in your workspace.
+This is the step that will install MoveIt and all of its dependencies: ::
 
   sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
 
@@ -102,12 +109,15 @@ Optional: add the previous command to your ``.bashrc``: ::
 Switch to Cyclone DDS
 ^^^^^^^^^^^^^^^^^^^^^
 
-As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue. As a workaround, switch to Cyclone DDS. (Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) ::
+As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue.
+As a workaround, switch to Cyclone DDS.
+(Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) ::
 
   sudo apt install ros-rolling-rmw-cyclonedds-cpp
   # You may want to add this to ~/.bashrc to source it automatically
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 Next Step
 ^^^^^^^^^
-Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
+Nice job!
+Next, we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`