debugging

Author: PeterMitrano

conf.py

@@ -56,6 +56,7 @@
             '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', ''),
             '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', ''),

doc/planning_scene_python/planning_scene_tutorial.rst

@@ -1,7 +1,7 @@
 Planning Scene Python
 ==================================
 
-The :planning_scene:`PlanningScene` class provides the main interface that you will use
+The :moveit_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.
 
@@ -17,6 +17,10 @@ The entire code can be seen :codedir:`here in the MoveIt GitHub project<planning
 
 Running the code
 ----------------
+Open two shells. Start RViz and wait for everything to finish loading in the first shell. You need to first clone `panda_moveit_config <http://github.com/ros-planning/panda_moveit_config>`_ in your catkin workspace and build: ::
+
+  roslaunch panda_moveit_config demo.launch
+
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 
  rosrun moveit_tutorials planning_scene_tutorial.py
@@ -41,4 +45,4 @@ joint values so some things may be different. ::
  [INFO] [1615403459.498652]: Test 10: Random state is not constrained
  [INFO] [1615403459.503490]: Test 12: Random state is not valid
 
-**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post <http://dav.ee/blog/notes/archives/898>`_.
+**Note:** Don't worry if your output has different ROS console format. You can customize your ROS console logger by following `this blog post <http://dav.ee/blog/notes/archives/898>`_.

doc/planning_scene_python/src/planning_scene_tutorial.py

@@ -19,7 +19,7 @@ def main():
     # Setup
     # ^^^^^
     #
-    # The :planning_scene:`PlanningScene` class can be easily setup and
+    # The :moveit_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
-    # :collision_detection_struct:`CollisionRequest` object and a
-    # :collision_detection_struct:`CollisionResult` object and pass them
+    # :moveit_python:`core.collision_detection.CollisionRequest` object and a
+    # :moveit_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
@@ -73,7 +73,6 @@ def main():
     for (first_name, second_name), contacts in collision_result.contacts.items():
         rospy.loginfo(f"Contact between {first_name} and {second_name}")
 
-
     # Change the state
     # ~~~~~~~~~~~~~~~~
     #
@@ -122,7 +121,7 @@ def main():
     # Modifying the Allowed Collision Matrix
     # ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     #
-    # The :collision_detection_class:`AllowedCollisionMatrix` (ACM)
+    # The :moveit_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
@@ -163,25 +162,17 @@ def main():
     # Constraint Checking
     # ^^^^^^^^^^^^^^^^^^^
     #
-    # The PlanningScene class also includes easy to use function calls
-    # for checking constraints. The constraints can be of two types:
-    # (a) constraints chosen from the
-    # :kinematic_constraints:`KinematicConstraint` set:
-    # i.e. :kinematic_constraints:`JointConstraint`,
-    # :kinematic_constraints:`PositionConstraint`,
-    # :kinematic_constraints:`OrientationConstraint` and
-    # :kinematic_constraints:`VisibilityConstraint` and (b) user
-    # defined constraints specified through a callback. We will first
-    # look at an example with a simple KinematicConstraint.
+    # 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
+    # constraints specified through a callback. We will first look at an example with a simple
+    # KinematicConstraint.
     #
     # Checking Kinematic Constraints
     # ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     #
     # We will first define a simple position and orientation constraint
     # on the end-effector of the panda_arm group of the Panda robot. Note the
     # use of convenience functions for filling up the constraints
-    # (these functions are found in the :moveit_core_files:`utils.h<utils_8h>` file from the
-    # kinematic_constraints directory in moveit_core).
 
     end_effector_name = joint_model_group.getLinkModelNames()[-1]
 

index.rst

@@ -38,6 +38,7 @@ Building more complex applications with MoveIt often requires developers to dig
    doc/planning_scene/planning_scene_tutorial
    doc/planning_scene_monitor/planning_scene_monitor_tutorial
    doc/planning_scene_ros_api/planning_scene_ros_api_tutorial
+   doc/planning_scene_python/planning_scene_tutorial
    doc/motion_planning_api/motion_planning_api_tutorial
    doc/motion_planning_pipeline/motion_planning_pipeline_tutorial
    doc/creating_moveit_plugins/plugin_tutorial