From f32f62c9e5660d2f22adc57639b2836bf6b1a5c6 Mon Sep 17 00:00:00 2001 From: Mike Lautman Date: Tue, 20 Mar 2018 21:20:01 -0500 Subject: [PATCH] fixing up sidebar and rewording (#21) --- .../move_group_interface_tutorial.rst | 39 +++++++++---------- 1 file changed, 18 insertions(+), 21 deletions(-) diff --git a/doc/move_group_interface/move_group_interface_tutorial.rst b/doc/move_group_interface/move_group_interface_tutorial.rst index b648f9f320..3c36572121 100644 --- a/doc/move_group_interface/move_group_interface_tutorial.rst +++ b/doc/move_group_interface/move_group_interface_tutorial.rst @@ -5,36 +5,39 @@ In MoveIt!, the simplest user interface is through the :move_group_interface:`Mo .. image:: move_group_interface_tutorial_start_screen.png -Watch the `YouTube video demo `_ - - Prerequisites -^^^^^^^^^^^^^ +------------- If you haven't already done so, make sure you've completed the steps in `Prerequisites <../prerequisites/prerequisites.html>`_. -Start Rviz and MoveGroup node -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Make sure you have re-sourced the setup files:: +The entire code +--------------- +The entire code can be seen :codedir:`here in the MoveIt! Github project`. + +.. tutorial-formatter:: ./src/move_group_interface_tutorial.cpp + +The launch file +--------------- +The entire launch file is :codedir:`here` on github. All the code in this tutorial can be run from the moveit_tutorials package that you have as part of your MoveIt! setup. + +Running the Code +---------------- +Open two shells and make sure you have re-sourced the setup files in both of them:: source ~/ws_moveit/devel/setup.bash -Start Rviz and wait for everything to finish loading:: +In the first shell start Rviz and wait for everything to finish loading:: roslaunch panda_moveit_config demo.launch -Running the demo -^^^^^^^^^^^^^^^^ - -In a new terminal window, run the :codedir:`move_group_interface_tutorial.launch` roslaunch file:: +In the second shell, run the launch file:: roslaunch moveit_tutorials move_group_interface_tutorial.launch -After a short moment, the Rviz window should appear and look similar to the one at the top of this page. Press the **Next** button at the bottom of the screen or press 'N' on your keyboard while Rviz is focused to progress through each demo step. +After a short moment, the Rviz window should appear and look similar to the one at the top of this page. To progress through each demo step either press the **Next** button in the **RvizVisualToolsGui** pannel at the bottom of the screen or select **Key Tool** in the **Tools** pannel at the top of the screen and then press **N** on your keyboard while Rviz is focused. Expected Output -^^^^^^^^^^^^^^^ - +--------------- Watch the `YouTube video demo `_ for expected output. In Rviz, we should be able to see the following: 1. The robot moves its arm to the pose goal to its front. @@ -50,9 +53,3 @@ Watch the `YouTube video demo `_ for expected outp 9. The object is removed from the environment. .. |B| image:: ./move_group_interface_tutorial_robot_with_box.png - -Explaining the Demo -^^^^^^^^^^^^^^^^^^^ -The entire code is located in the moveit_tutorials github repo under the subfolder :codedir:`move_group_interface`. Next we step through the code piece by piece to explain its functionality. - -.. tutorial-formatter:: ./src/move_group_interface_tutorial.cpp