Kinetic panda moveit commander (moveit#17)

* moveit commander

* removing ref to pr2 and minor cleanup to moveit_commander tutorial

* changing bold to code

doc/moveit_commander/moveit_commander_tutorial.rst

@@ -1,41 +1,43 @@
 MoveIt! Commander and Command Line Tool
 =======================================
 
-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 <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``.
 
 Prerequisites
--------------
-
+^^^^^^^^^^^^^
 If you haven't already done so, make sure you've completed the steps in `Prerequisites
 <../prerequisites/prerequisites.html>`_.
 
-Command Line Tool
------------------
+Starting Rviz and the Command Line Tool
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Open two shells and make sure you have sourced the setup files in both shells::
 
-The **moveit_commander** package also includes a command line tool for controlling the robot.
+  source ~/ws_moveit/devel/setup.bash
 
-First, launch the MoveIt! simulated environment interface: ::
+Start Rviz and wait for everything to finish loading in the first shell::
 
- roslaunch pr2_moveit_config demo.launch
+  roslaunch panda_moveit_config demo.launch
 
-Now initiate the **moveit_commander** interface: ::
+Now initiate the ``moveit_commander`` interface in another shell: ::
 
  rosrun moveit_commander moveit_commander_cmdline.py
 
+Using the MoveIt! Commander Command Line Tool
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 The command below will start a command line interface tool that allows you to connect to a running instance of the move_group node. The first command you should type is: ::
 
  use <group name>
 
-This will connect to the move_group node for the group name you specified (in the PR2, for instance, you could connect to left_arm). You can now execute commands on that group.
-This command, **current**, will show you the current state of your group: ::
+This will connect to the move_group node for the group name you specified (in the Panda, for instance, you could connect to ``panda_arm``). You can now execute commands on that group.
+This command, ``current``, will show you the current state of your group: ::
 
  current
 
 To record that state under a specific name you can simply type: ::
 
  rec c
 
-This will remember the current joint values of the robot group under the name c. Matlab-like syntax is available for modifying joint values. The code above copies the joint values of c into a new variable named goal. We then modify the first joint of goal to 0.2. You may need to use a different value instead of 0.2 (it needs to be within your allowed bounds and not cause collisions). The **go** command plans a motion and executes it.
+This will remember the current joint values of the robot group under the name ``c``. Matlab-like syntax is available for modifying joint values. The code above copies the joint values of c into a new variable named goal. We then modify the first joint of ``goal`` to ``0.2``. You may need to use a different value instead of ``0.2`` (it needs to be within your allowed bounds and not cause collisions). The ``go`` command plans a motion and executes it.
 
 To get the robot to move, you could type, for example: ::
 
@@ -44,11 +46,13 @@ To get the robot to move, you could type, for example: ::
  go goal
 
 
-Instead of calling **go** you could also type: ::
+Instead of calling ``go`` you could also type: ::
 
+ goal[0] = 0.2
+ goal[1] = 0.2
  plan goal
  execute
 
-This is slightly inefficient, but the advantage is that the **plan** command allows you to visualize the computed motion plan in Rviz before you actually issue the execute command.
+This is slightly inefficient, but the advantage is that the ``plan`` command allows you to visualize the computed motion plan in Rviz before you actually issue the execute command.
 
-For a list of supported commands, you can type "help".
+For a list of supported commands, you can type ``help``. To exit the ``moveit_commander`` interface you can type ``quit``.