Pics (moveit#51)

* adding image to top of page * picture first
MikeWrock · May 15, 2018 · 0c6ef2f · 0c6ef2f
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diff --git a/doc/collision_contact/collision_contact_tutorial.rst b/doc/collision_contact/collision_contact_tutorial.rst
@@ -1,5 +1,8 @@
 Collision Contact
 =================
+.. image:: collisions.png
+   :width: 700px
+
 This section walks you through C++ code which allows you to see collision contact points between the robot, itself, and the world as you move and interact with the robot’s arm in RViz.
 
 Getting Started
@@ -19,6 +22,7 @@ Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 You should now see the Panda robot with 2 interactive markers which you can drag around.
 
 .. image:: collision_contact_tutorial_screen.png
+   :width: 700px
 
 Classes
 -------

diff --git a/doc/collision_contact/collisions.png b/doc/collision_contact/collisions.png
diff --git a/doc/ikfast/ikfast_tutorial.rst b/doc/ikfast/ikfast_tutorial.rst
@@ -1,5 +1,9 @@
 IKFast Plugin
 ===============================
+
+.. image:: openrave_panda.png
+   :width: 700px
+
 In this section, we will walk through configuring an IKFast plugin for MoveIt!
 
 What is IKFast?
@@ -140,7 +144,7 @@ To test your newly generated Collada file in OpenRAVE: ::
 You should see your robot.
 
 .. image:: openrave_panda.png
-
+   :width: 700px
 
 Create IKFast Solution CPP File
 -------------------------------

diff --git a/doc/kinematic_model/kinematic_model_tutorial.rst b/doc/kinematic_model/kinematic_model_tutorial.rst
@@ -1,11 +1,11 @@
 Kinematic Model
 ========================
-In this section, we will walk you through the C++ API for using kinematics in MoveIt!.
-
 .. image:: panda_tf.png
-   :width: 500px
+   :width: 700px
    :alt: "That is a sweet robot" you might say.
 
+In this section, we will walk you through the C++ API for using kinematics in MoveIt!.
+
 The RobotModel and RobotState Classes
 -------------------------------------
 The :moveit_core:`RobotModel` and :moveit_core:`RobotState` classes are the core classes that give you access to a robot's kinematics.

diff --git a/doc/motion_planning_api/motion_planning_api_tutorial.rst b/doc/motion_planning_api/motion_planning_api_tutorial.rst
@@ -1,5 +1,7 @@
 Motion Planning API
 ==================================
+.. image:: motion_planning_api_tutorial_robot_move_arm_1st.png
+   :width: 700px
 
 In MoveIt!, the motion planners are loaded using a plugin infrastructure. This
 allows MoveIt! to load motion planners at runtime. In this example, we will

diff --git a/doc/move_group_interface/move_group_interface_tutorial.rst b/doc/move_group_interface/move_group_interface_tutorial.rst
@@ -1,9 +1,10 @@
 Move Group Interface
 ==================================
+.. image:: move_group_interface_tutorial_start_screen.png
+   :width: 700px
 
 In MoveIt!, the simplest user interface is through the :move_group_interface:`MoveGroup` class. It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. This interface communicates over ROS topics, services, and actions to the `MoveGroup Node <http://docs.ros.org/indigo/api/moveit_ros_move_group/html/annotated.html>`_.
 
-.. image:: move_group_interface_tutorial_start_screen.png
 
 Watch this quick `YouTube video demo <https://youtu.be/_5siHkFQPBQ>`_ to see the power of the move group interface!
 

diff --git a/doc/move_group_python_interface/move_group_python_interface_tutorial.rst b/doc/move_group_python_interface/move_group_python_interface_tutorial.rst
@@ -1,14 +1,14 @@
 Move Group Python Interface
 ================================================
+.. image:: move_group_python_interface.png
+   :width: 700px
 
 In MoveIt!, the simplest user interface is through the Python-based RobotCommander class. It
 provides functionality for most operations that a user may want to carry out,
 specifically setting joint or pose goals, creating motion plans, moving the
 robot, adding objects into the environment and attaching/detaching objects from
 the robot.
 
-.. image:: move_group_python_interface.png
-
 Watch this quick `YouTube video demo <https://youtu.be/3MA5ebXPLsc>`_ to see the power of the Move Group Python interface!
 
 Getting Started

diff --git a/doc/moveit_commander/moveit_commander.png b/doc/moveit_commander/moveit_commander.png
diff --git a/doc/moveit_commander/moveit_commander_tutorial.rst b/doc/moveit_commander/moveit_commander_tutorial.rst
@@ -1,5 +1,7 @@
 MoveIt! Commander and Command Line Tool
 =======================================
+.. image:: moveit_commander.png
+   :width: 700px
 
 The `moveit_commander <http://wiki.ros.org/moveit_commander>`_ Python package offers wrappers for the functionality provided in MoveIt!. Simple interfaces are available for motion planning, computation of Cartesian paths, and pick and place. The ``moveit_commander`` package also includes a command line interface, ``moveit_commander_cmdline.py``.
 

diff --git a/doc/setup_assistant/MoveIt_setup_assistant_launch.png b/doc/setup_assistant/MoveIt_setup_assistant_launch.png
diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst
@@ -1,9 +1,11 @@
 Setup Assistant
 ========================
 
+.. image:: MoveIt_setup_assistant_launch.png
+   :width: 700px
+
 Overview
 ----------------------
-
 The MoveIt! Setup Assistant is a graphical user interface for
 configuring any robot for use with MoveIt!. Its primary function is
 generating a Semantic Robot Description Format (SRDF) file for your
@@ -50,7 +52,7 @@ Step 1: Start
   and present you with this screen:
 
 .. image:: setup_assistant_panda_100.png
-   :width: 800px
+   :width: 700px
 
 Step 2: Generate Self-Collision Matrix
 --------------------------------------

diff --git a/doc/visualization/visualization_tutorial.rst b/doc/visualization/visualization_tutorial.rst
@@ -1,10 +1,10 @@
 Visualization with the MoveIt! RViz Plugin
 ===============================================
+.. image:: rviz_plugin_head.png
+   :width: 700px
 
 MoveIt! comes with a plugin for the ROS Visualizer (RViz). The plugin allows you to setup scenes in which the robot will work, generate plans, visualize the output and interact directly with a visualized robot. We will explore the plugin in this tutorial.
 
-.. image:: rviz_plugin_head.png
-   :width: 700px
 
 Getting Started
 ---------------