figuring out the right URLs

Author: PeterMitrano

conf.py

@@ -54,14 +54,14 @@
             'moveit_codedir': ('https://github.com/' + html_context["github_user"] + '/moveit/blob/' + html_context["github_version"] + '/%s', ''),
             'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + 'melodic-devel' + '/%s', ''),  # TODO(dlu): use ros_distro when noetic-devel branch is available
             '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', ''),
-            'moveit_python': ('file:///home/peter/projects/moveit_ws/doc/moveit_core/html/python/_autosummary/moveit.%s.html', ''),
+            'moveit_core': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classmoveit_1_1core_1_1%s.html', ''),
+            'moveit_core_python': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/python/_autosummary/moveit.%s.html', ''),
+            'planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classplanning__scene_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', ''),
+            'collision_detection_struct': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/structcollision__detection_1_1%s.html', ''),
+            'collision_detection_class': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classcollision__detection_1_1%s.html', ''),
+            'kinematic_constraints': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classkinematic__constraints_1_1%s.html', ''),
+            'moveit_core_files': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/%s.html', ''),
             'moveit_website': ('http://moveit.ros.org/%s/', ''),
             'locked_planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning/html/namespaceplanning__scene__monitor.html', ''),
             'planning_interface': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),

doc/planning_scene_python/planning_scene_tutorial.rst

@@ -1,7 +1,7 @@
 Planning Scene Python
 ==================================
 
-The :moveit_python:`core.planning_scene.PlanningScene` class provides the main interface that you will use
+The :moveit_core_python:`core.planning_scene.PlanningScene` class provides the main interface that you will use
 for collision checking and constraint checking. In this tutorial, we
 will explore the Python interface to this class.
 

doc/planning_scene_python/src/planning_scene_tutorial.py

@@ -19,7 +19,7 @@ def main():
     # Setup
     # ^^^^^
     #
-    # The :moveit_python:`core.planning_scene.PlanningScene` class can be easily setup and
+    # The :moveit_core_python:`core.planning_scene.PlanningScene` class can be easily setup and
     # configured using a URDF and
     # SRDF. This is, however, not the recommended way to instantiate a
     # PlanningScene. At the time of writing there are not yet python bindings
@@ -46,8 +46,8 @@ def main():
     # current state is in *self-collision*, i.e. whether the current
     # configuration of the robot would result in the robot's parts
     # hitting each other. To do this, we will construct a
-    # :moveit_python:`core.collision_detection.CollisionRequest` object and a
-    # :moveit_python:`core.collision_detection.CollisionResult` object and pass them
+    # :moveit_core_python:`core.collision_detection.CollisionRequest` object and a
+    # :moveit_core_python:`core.collision_detection.CollisionResult` object and pass them
     # into the collision checking function. Note that the result of
     # whether the robot is in self-collision or not is contained within
     # the result. Self collision checking uses an *unpadded* version of
@@ -121,7 +121,7 @@ def main():
     # Modifying the Allowed Collision Matrix
     # ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     #
-    # The :moveit_python:`core.collision_detection.AllowedCollisionMatrix` (ACM)
+    # The :moveit_core_python:`core.collision_detection.AllowedCollisionMatrix` (ACM)
     # provides a mechanism to tell the collision world to ignore
     # collisions between certain object: both parts of the robot and
     # objects in the world. We can tell the collision checker to ignore
@@ -163,7 +163,7 @@ def main():
     # ^^^^^^^^^^^^^^^^^^^
     #
     # The PlanningScene class also includes easy to use function calls for checking constraints. The constraints can be
-    # of two types: (a) constraints constructed using :moveit_python:`core.kinematic_constraints`, or (b) user defined
+    # of two types: (a) constraints constructed using :moveit_core_python:`core.kinematic_constraints`, or (b) user defined
     # constraints specified through a callback. We will first look at an example with a simple
     # KinematicConstraint.
     #