Change 'MoveIt!' to MoveIt

Author: davetcoleman

CHANGELOG.rst

@@ -88,7 +88,7 @@ Changelog for package moveit_visual_tools
 * Make checkForVirtualJoint() static
 * IMarkerRobotState remove offset capability
 * IMarkerRobotState remove imarker box control
-* Switched travis to MoveIt! CI
+* Switched travis to MoveIt CI
 * Added new IMarker Robot control method
 * Cleaned up code base: catkin lint, roslint
 * Fixed bug in planning scene triggering

MIGRATION.md

@@ -1,6 +1,6 @@
 # Migration Notes
 
-API changes in MoveIt! Visual Tools releases
+API changes in MoveIt Visual Tools releases
 
 ## ROS Melodic
 

README.md

@@ -1,12 +1,12 @@
-# MoveIt! Visual Tools
+# MoveIt Visual Tools
 
-Helper functions for displaying and debugging MoveIt! data in Rviz via published markers, trajectories, and MoveIt! collision objects. It is sometimes hard to understand everything that is going on internally with MoveIt!, but using these quick convenience functions allows one to easily visualize their code. This package is built in top of [rviz_visual_tools](https://github.com/davetcoleman/rviz_visual_tools) and all those features are included via class inheritance.
+Helper functions for displaying and debugging MoveIt data in Rviz via published markers, trajectories, and MoveIt collision objects. It is sometimes hard to understand everything that is going on internally with MoveIt, but using these quick convenience functions allows one to easily visualize their code. This package is built in top of [rviz_visual_tools](https://github.com/davetcoleman/rviz_visual_tools) and all those features are included via class inheritance.
 
 This package helps you visualize:
 
  - Basic Rviz geometric shapes
- - MoveIt! collision objects
- - MoveIt! and ROS trajectories
+ - MoveIt collision objects
+ - MoveIt and ROS trajectories
  - Robot states
  - End effectors
  - Interactive markers to move robot arms using IK from remote applications
@@ -73,7 +73,7 @@ visual_tools_.reset(new moveit_visual_tools::MoveItVisualTools("base_frame","/mo
 
 ### Collision Object Functions
 
-Helpers for adding and removing objects from the MoveIt! planning scene. CO stands for Collision Object and ACO stands for Active Collision Object.
+Helpers for adding and removing objects from the MoveIt planning scene. CO stands for Collision Object and ACO stands for Active Collision Object.
 
  - cleanupCO
  - cleanupACO

include/moveit_visual_tools/moveit_visual_tools.h

@@ -33,8 +33,8 @@
  *********************************************************************/
 
 /* \author  Dave Coleman
- * \desc    Helper functions for displaying and debugging MoveIt! data in Rviz via published markers
- *          and MoveIt! collision objects. Very useful for debugging complex software
+ * \desc    Helper functions for displaying and debugging MoveIt data in Rviz via published markers
+ *          and MoveIt collision objects. Very useful for debugging complex software
  */
 
 #ifndef MOVEIT_VISUAL_TOOLS_MOVEIT_VISUAL_TOOLS_H
@@ -180,7 +180,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
 
   /**
    * \brief Call this once at begining to load the end effector markers and then whenever a joint changes
-   * \param ee_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_gripper"
+   * \param ee_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_gripper"
    * \param ee_joint_pos - the values of all active joints in this planning group
    * \return true if it is successful
    */
@@ -246,7 +246,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
   /**
    * \brief Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources
    * \param possible_grasps - a set of grasp positions to visualize
-   * \param ee_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param ee_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param animate_speed - how fast the gripper approach is animated, optional
    */
   bool publishGrasps(const std::vector<moveit_msgs::Grasp>& possible_grasps, const robot_model::JointModelGroup* ee_jmg,
@@ -255,7 +255,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
   /**
    * \brief Display an animated vector of grasps including its approach movement in Rviz
    * \param possible_grasps - a set of grasp positions to visualize
-   * \param ee_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param ee_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param animate_speed - how fast the gripper approach is animated, optional
    */
   bool publishAnimatedGrasps(const std::vector<moveit_msgs::Grasp>& possible_grasps,
@@ -264,7 +264,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
   /**
    * \brief Animate a single grasp in its movement direction
    * \param grasp
-   * \param ee_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param ee_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param animate_speed - how fast the gripper approach is animated
    * \return true on sucess
    */
@@ -275,14 +275,14 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
    * \brief Display an vector of inverse kinematic solutions for the IK service in Rviz
    * Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz
    * \param ik_solutions - a set of corresponding arm positions to achieve each grasp
-   * \param arm_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param arm_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param display_time - amount of time to sleep between sending trajectories, optional
    */
   bool publishIKSolutions(const std::vector<trajectory_msgs::JointTrajectoryPoint>& ik_solutions,
                           const robot_model::JointModelGroup* arm_jmg, double display_time = 0.4);
 
   /**
-   * \brief Remove all collision objects that this class has added to the MoveIt! planning scene
+   * \brief Remove all collision objects that this class has added to the MoveIt planning scene
    *        Communicates directly to a planning scene monitor e.g. if this is the move_group node
    * \param  the scene to directly clear the collision objects from
    * \return true on sucess
@@ -541,7 +541,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
    * \param trajectory the actual plan
    * \param blocking whether we need to wait for the animation to complete
    * \param robot_state - the base state to add the joint trajectory message to
-   * \param ee_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param ee_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \return true on success
    */
   bool publishTrajectoryPath(const std::vector<moveit::core::RobotStatePtr>& trajectory,
@@ -559,7 +559,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
    * \brief Display a line of the end effector path from a robot trajectory path
    * \param trajectory_msg - the robot plan
    * \param ee_parent_link - the link that we should trace a path of, e.g. the gripper link
-   * \param arm_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param arm_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param color - display color of markers
    * \return true on success
    */
@@ -577,7 +577,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
    * \brief Display a line of the end effector(s) path(s) from a robot trajectory path
    *        This version can visualize multiple end effectors
    * \param trajectory_msg - the robot plan
-   * \param arm_jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm".
+   * \param arm_jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm".
    * \param color - display color of markers
    * \return true on success
    */
@@ -610,7 +610,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
   /**
    * \brief Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show
    * \param trajectory_pt of joint positions
-   * \param jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param color - how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF
    * \return true on success
    */
@@ -621,7 +621,7 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
   /**
    * \brief Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show
    * \param joint_positions - a vector of doubles corresponding 1-to-1 to the kinematic chain named in "jmg"
-   * \param jmg - the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
+   * \param jmg - the set of joints to use, e.g. the MoveIt planning group, e.g. "left_arm"
    * \param color - how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF
    * \return true on success
    */

moveit.rosinstall

@@ -1,5 +1,5 @@
-# This file is intended for users who want to build MoveIt! from source.
-# Used with wstool, users can download source of all packages of MoveIt!.
+# This file is intended for users who want to build MoveIt from source.
+# Used with wstool, users can download source of all packages of MoveIt.
 - git:
     local-name: moveit
     uri: https://github.com/ros-planning/moveit.git

package.xml

@@ -2,7 +2,7 @@
 <package format="2">
   <name>moveit_visual_tools</name>
   <version>3.5.2</version>
-  <description>Helper functions for displaying and debugging MoveIt! data in Rviz via published markers</description>
+  <description>Helper functions for displaying and debugging MoveIt data in Rviz via published markers</description>
 
   <maintainer email="[email protected]">Dave Coleman</maintainer>
 

src/imarker_end_effector.cpp

@@ -291,7 +291,7 @@ bool isStateValid(const planning_scene::PlanningScene* planning_scene, bool verb
     {
       ROS_ERROR_STREAM_NAMED("cart_path_planner", "No collision objects exist in world, you need at least a table "
                                                   "modeled for the controller to work");
-      ROS_ERROR_STREAM_NAMED("cart_path_planner", "To fix this, relaunch the teleop/head tracking/whatever MoveIt! "
+      ROS_ERROR_STREAM_NAMED("cart_path_planner", "To fix this, relaunch the teleop/head tracking/whatever MoveIt "
                                                   "node to publish the collision objects");
       return false;
     }

src/imarker_robot_state.cpp

@@ -348,7 +348,7 @@ bool isIKStateValid(const planning_scene::PlanningScene* planning_scene, bool ve
     {
       ROS_ERROR_STREAM_NAMED("imarker_robot_state", "No collision objects exist in world, you need at least a table "
                                                     "modeled for the controller to work");
-      ROS_ERROR_STREAM_NAMED("imarker_robot_state", "To fix this, relaunch the teleop/head tracking/whatever MoveIt! "
+      ROS_ERROR_STREAM_NAMED("imarker_robot_state", "To fix this, relaunch the teleop/head tracking/whatever MoveIt "
                                                     "node to publish the collision objects");
       return false;
     }

src/moveit_visual_tools.cpp

@@ -331,7 +331,7 @@ void MoveItVisualTools::loadTrajectoryPub(const std::string& display_planned_pat
 
   // Trajectory paths
   pub_display_path_ = nh_.advertise<moveit_msgs::DisplayTrajectory>(display_planned_path_topic, 10, false);
-  ROS_DEBUG_STREAM_NAMED(LOGNAME, "Publishing MoveIt! trajectory on topic " << pub_display_path_.getTopic());
+  ROS_DEBUG_STREAM_NAMED(LOGNAME, "Publishing MoveIt trajectory on topic " << pub_display_path_.getTopic());
 
   // Wait for topic to be ready
   if (blocking)
@@ -349,7 +349,7 @@ void MoveItVisualTools::loadRobotStatePub(const std::string& robot_state_topic,
 
   // RobotState Message
   pub_robot_state_ = nh_.advertise<moveit_msgs::DisplayRobotState>(robot_state_topic_, 1);
-  ROS_DEBUG_STREAM_NAMED(LOGNAME, "Publishing MoveIt! robot state on topic " << pub_robot_state_.getTopic());
+  ROS_DEBUG_STREAM_NAMED(LOGNAME, "Publishing MoveIt robot state on topic " << pub_robot_state_.getTopic());
 
   // Wait for topic to be ready
   if (blocking)

src/moveit_visual_tools_demo.cpp

@@ -86,7 +86,7 @@ class VisualToolsDemo
     // Show message
     Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
     text_pose.translation().z() = 4;
-    visual_tools_->publishText(text_pose, "MoveIt! Visual Tools", rvt::WHITE, rvt::XLARGE, /*static_id*/ false);
+    visual_tools_->publishText(text_pose, "MoveIt Visual Tools", rvt::WHITE, rvt::XLARGE, /*static_id*/ false);
 
     runRobotStateTests();