Merge PR #746: fixups

- Fix .urdf and .srdf file names for panda robot
- Fix broken links to MoveIt C++ API

Author: rhaschke

conf.py

@@ -80,13 +80,13 @@
     "moveit_core": (
         "http://docs.ros.org/"
         + ros_distro
-        + "/api/moveit_core/html/cpp/classmoveit_1_1core_1_1%s.html",
+        + "/api/moveit_core/html/classmoveit_1_1core_1_1%s.html",
         "",
     ),
     "planning_scene": (
         "http://docs.ros.org/"
         + ros_distro
-        + "/api/moveit_core/html/cpp/classplanning__scene_1_1%s.html",
+        + "/api/moveit_core/html/classplanning__scene_1_1%s.html",
         "",
     ),
     "planning_scene_monitor": (
@@ -98,23 +98,23 @@
     "collision_detection_struct": (
         "http://docs.ros.org/"
         + ros_distro
-        + "/api/moveit_core/html/cpp/structcollision__detection_1_1%s.html",
+        + "/api/moveit_core/html/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",
+        + "/api/moveit_core/html/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",
+        + "/api/moveit_core/html/classkinematic__constraints_1_1%s.html",
         "",
     ),
     "moveit_core_files": (
-        "http://docs.ros.org/" + ros_distro + "/api/moveit_core/html/cpp/%s.html",
+        "http://docs.ros.org/" + ros_distro + "/api/moveit_core/html/%s.html",
         "",
     ),
     "moveit_website": ("http://moveit.ros.org/%s/", ""),

doc/bullet_collision_checker/launch/bullet_collision_checker_tutorial.launch

@@ -1,10 +1,11 @@
 <launch>
 
   <!-- load URDF -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro hand:=true'" />
+  <param name="robot_description"
+    command="$(find xacro)/xacro '$(find franka_description)/robots/panda/panda.urdf.xacro hand:=true'"/>
 
   <!-- load SRDF -->
-  <param name="robot_description_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" />
+  <param name="robot_description_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda.srdf.xacro'"/>
 
   <!-- Run RViz with a custom config -->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_tutorials)/doc/bullet_collision_checker/launch/moveit.rviz" output="screen">

doc/gazebo_simulation/gazebo_simulation.rst

@@ -27,14 +27,14 @@ the procedure outlined in there will be repeated (with improvements) in here as
 
 1. Fix the robot to the world coordinate system
 -----------------------------------------------
-Open the :code:`franka_description/robots/panda_arm.urdf.xacro` file and change the line 5 with:
+Open the :code:`franka_description/robots/panda/panda.urdf.xacro` file and change the line 5 with:
 
 .. code-block:: xml
 
     <xacro:panda_arm xyz="0 0 0" rpy="0 0 0" connected_to="world"/>
 
 It alone doesn't fix the problem, since now we need to provide a link with name :code:`world`. Add the following line to
-:code:`franka_description/robots/panda_arm.urdf.xacro`:
+:code:`franka_description/robots/panda/panda.urdf.xacro`:
 
 .. code-block:: xml
 
@@ -306,7 +306,7 @@ with :code:`<param name="robot_description" textfile="$(arg urdf_path)" />` and
 
 .. code-block:: xml
 
-    <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+    <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda/panda.urdf.xacro'"/>
 
 
 With this adjustment we are using :code:`xacro` executable that compiles :code:`xacro` files into URDF files.

doc/motion_planning_api/src/motion_planning_api_tutorial.cpp

@@ -173,7 +173,7 @@ int main(int argc, char** argv)
   // package.
   //
   // .. _kinematic_constraints:
-  //     http://docs.ros.org/noetic/api/moveit_core/html/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
   moveit_msgs::Constraints pose_goal =
       kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
 

doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp

@@ -150,7 +150,7 @@ int main(int argc, char** argv)
   // package.
   //
   // .. _kinematic_constraints:
-  //     http://docs.ros.org/noetic/api/moveit_core/html/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
   req.group_name = "panda_arm";
   moveit_msgs::Constraints pose_goal =
       kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);

doc/planning_scene/launch/planning_scene_tutorial.launch

@@ -1,6 +1,7 @@
 <launch>
   <!-- send Panda urdf to parameter server -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true" />
+  <param name="robot_description"
+    command="$(find xacro)/xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=true"/>
 
   <include file="$(find panda_moveit_config)/launch/planning_context.launch"/>
 

doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -98,7 +98,7 @@ VisibilityConstraint
 
 A ``VisibilityConstraint`` allows to eg. specify a camera should always be able to see the gripper.
 
-How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/noetic/api/moveit_core/html/cpp/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
+How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/noetic/api/moveit_core/html/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
 
 Such a constraint is compactly defined like this::
 

doc/setup_assistant/setup_assistant_tutorial.rst

@@ -52,7 +52,7 @@ Step 1: Start
 * Click on the browse button and navigate to the *panda_arm.urdf.xacro* file
   installed when you installed the Franka package above. (This file
   gets installed in
-  /opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro on Ubuntu
+  /opt/ros/noetic/share/franka_description/robots/panda/panda.urdf.xacro on Ubuntu
   with ROS Noetic.)  Choose that file and then click *Load Files*. The
   Setup Assistant will load the files (this might take a few seconds)
   and present you with this screen:

doc/visualizing_collisions/launch/visualizing_collisions_tutorial.launch

@@ -1,10 +1,11 @@
 <launch>
 
   <!-- load URDF -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true" />
+  <param name="robot_description"
+    command="$(find xacro)/xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=true"/>
 
   <!-- load SRDF -->
-  <param name="robot_description_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'"/>
+  <param name="robot_description_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda.srdf.xacro'"/>
 
   <!-- Run RViz with a custom config -->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"