Merge branch 'main' into humble

Author: alejomancinelli

.github/upstream.repos

@@ -16,10 +16,12 @@ repositories:
     url: https://github.com/PickNikRobotics/rviz_visual_tools.git
     version: ros2
   # Remove ros2_kortex when rolling binaries are available.
+  # Need to use this fork since ros2_kortex depends on Gazebo classic packages:
+  # https://github.com/Kinovarobotics/ros2_kortex/issues/217
   ros2_kortex:
     type: git
-    url: https://github.com/Kinovarobotics/ros2_kortex.git
-    version: main
+    url: https://github.com/sea-bass/ros2_kortex.git
+    version: remove-gazebo-classic
   # Remove ros2_robotiq_gripper when rolling binaries are available.
   ros2_robotiq_gripper:
     type: git
@@ -30,3 +32,8 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  # Doesn't seem to be available from binaries yet
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master

.github/workflows/deploy.yml

@@ -22,9 +22,12 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: Install Python dependencies
+      shell: bash
       run: |
         sudo apt-get update -y
-        sudo apt-get install -y python3-pip
+        sudo apt-get install -y python3-pip python3-venv
+        python3 -m venv .venv
+        source .venv/bin/activate
         pip3 install --upgrade --requirement requirements.txt
 
     - name: Install doxygen and graphviz
@@ -39,6 +42,7 @@ jobs:
       run: |
         source /opt/ros/rolling/setup.bash
         source /root/ws_moveit/install/setup.bash
+        source .venv/bin/activate
         ./htmlproofer.sh
 
   upload_site_artifacts:
@@ -58,9 +62,12 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: Install Python dependencies
+      shell: bash
       run: |
         sudo apt-get update -y
-        sudo apt-get install -y python3-pip
+        sudo apt-get install -y python3-pip python3-venv
+        python3 -m venv .venv
+        source .venv/bin/activate
         pip3 install --upgrade --requirement requirements.txt
 
     - name: Install doxygen and graphviz
@@ -71,6 +78,7 @@ jobs:
       run: |
         source /opt/ros/${{ matrix.rosdistro }}/setup.bash
         source /root/ws_moveit/install/setup.bash
+        source .venv/bin/activate
         make generate_api_artifacts BRANCH=${{ matrix.branch }}
 
     - name: Compress Artifact

.gitignore

@@ -7,5 +7,6 @@ build
 Gemfile
 native_build
 *.gdb
+.venv
 # For local rst builds
 _build/

build_locally.sh

@@ -41,7 +41,7 @@ fi
 # Install dependencies, unless argument says to skip
 if ! have_noinstall "$@"; then
   sudo apt-get install -y doxygen graphviz
-  pip3 install --user --upgrade -r requirements.txt
+  pip3 install --upgrade -r requirements.txt
 fi
 
 # A fresh build is required because changes to some components such as css files does not rebuilt currently

doc/examples/hybrid_planning/hybrid_planning_tutorial.rst

@@ -36,7 +36,7 @@ To start the hybrid planning demo simply run: ::
 
 You should see a similar behavior as in the example GIF above without the replanning.
 
-To interact with the architecture you simply need to send a *Hybrid Planning Request* to an action server offered by the *Hybrid Planning Manager* as seen in the :moveit_codedir:`hybrid_planning_test_node <moveit_ros/hybrid_planning/test/hybrid_planning_demo_node.cpp#L245>`.
+To interact with the architecture you simply need to send a *Hybrid Planning Request* to an action server offered by the *Hybrid Planning Manager*.
 
 Let's change this behavior such that the architecture replans the invalidated trajectory. To do so, just change the *planner_logic_plugin* by replacing the plugin name in the :moveit_codedir:`demo configuration <moveit_ros/hybrid_planning/test/config/hybrid_planning_manager.yaml>` with "moveit_hybrid_planning/ReplanInvalidatedTrajectory" and rebuild the package : ::
 

doc/examples/setup_assistant/setup_assistant_tutorial.rst

@@ -504,7 +504,7 @@ To build only the generated ``panda_moveit_config`` package and run the demo, fo
 
 Start the MoveIt demo to interactively plan and execute motions for the robot in RViz. ::
 
-   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
+   ros2 launch panda_moveit_config demo.launch.py
 
 Check out this `brief YouTube video <https://youtu.be/f__udZlnTdM>`_ for an example of how to
 command the robot to move to the pre-defined ``ready`` pose and execute ``open`` and ``close`` motions on the hand.

doc/how_to_contribute/how_to_contribute_to_site.rst

@@ -40,7 +40,20 @@ Steps
 
 2. Test for broken links
 
-  To test for broken links run this command:
+  To test for broken links, run the ``htmlproofer`` script. Note that running this script may require you to install some Python dependencies. If using ``pip`` to install these dependencies, you may want to create a virtual environment.
+
+  .. code-block:: bash
+
+    python3 -m venv .venv
+    source .venv/bin/activate
+
+  You can then install requirements using ``pip``:
+
+  .. code-block:: bash
+
+    pip3 install --upgrade --requirement requirements.txt
+
+  You can run the ``htmlproofer`` script with this command:
 
   .. code-block:: bash
 

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

@@ -50,7 +50,7 @@ Further Reading
   refer to `this blog post <https://picknik.ai/ros/robotics/docker/2021/07/20/Vatan-Aksoy-Tezer-Docker.html>`_
   from PickNik's Vatan Aksoy Tezer and Brennard Pierce.
 
-- You can find a list of tagged tutorial images `here <https://github.com/moveit/moveit2_tutorials/pkgs/container/moveit2_tutorials>`__. There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
+- There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
 
 - You can find more tagged images for MoveIt 2 Docker containers `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
   The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries.

htmlproofer.sh

@@ -1,4 +1,5 @@
 #!/bin/bash
+# Note that a virtual environment is required when running this script in CI
 set -e
 
 # Define some config vars
@@ -12,7 +13,7 @@ gem install --user-install html-proofer -v 3.19.4 # newer 4.x requires different
 PATH="$(ruby -r rubygems -e 'puts Gem.user_dir')/bin:$PATH"
 
 # Install python dependencies
-pip3 install --user --upgrade -r requirements.txt
+pip3 install --upgrade -r requirements.txt
 
 # Clear out any previous builds
 rm -rf build
@@ -29,7 +30,8 @@ rm -rf moveit2
 popd
 
 # Test build with non-ROS wrapped Sphinx command to allow warnings and errors to be caught
-sphinx-build -W -b html . build/html
+# TODO: Re-add the -W flag so that all warnings are treated as errors.
+sphinx-build -b html . build/html
 
 # Replace Edit on Github links with local file paths
 grep -rl 'https:\/\/github.com\/moveit\/moveit2_tutorials\/blob\/main\/' ./build/ | \

index.rst

@@ -3,7 +3,7 @@ MoveIt 2 Documentation
 
 Welcome to the unified MoveIt documentation, which includes tutorials, how-to guides, core concepts, and more.
 
-MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials <https://ros-planning.github.io/moveit_tutorials>`_.
+MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials <https://moveit.github.io/moveit_tutorials>`_.
 For the commercially supported version see `MoveIt Pro tutorials <https://docs.picknik.ai/en/stable/>`_.
 
 .. image:: https://moveit.ros.org/assets/images/roadmap.png

moveit2_tutorials.repos

@@ -8,10 +8,12 @@ repositories:
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
   # Remove ros2_kortex when rolling binaries are available.
+  # Need to use this fork since ros2_kortex depends on Gazebo classic packages:
+  # https://github.com/Kinovarobotics/ros2_kortex/issues/217
   ros2_kortex:
     type: git
-    url: https://github.com/Kinovarobotics/ros2_kortex.git
-    version: main
+    url: https://github.com/sea-bass/ros2_kortex.git
+    version: remove-gazebo-classic
   # Remove ros2_robotiq_gripper when rolling binaries are available.
   ros2_robotiq_gripper:
     type: git
@@ -42,3 +44,8 @@ repositories:
     type: git
     url: https://github.com/PickNikRobotics/pick_ik
     version: main
+  # Doesn't seem to be available from binaries yet
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master

requirements.txt

@@ -1,8 +1,8 @@
 pip
-docutils==0.18.1
+docutils
 sphinx>=5.0.0
-sphinx-tabs==3.4.4
+sphinx-tabs
 sphinx-multiversion
 sphinx-rtd-theme
 sphinx-copybutton
-sphinxcontrib-doxylink
+sphinxcontrib-doxylink@git+https://github.com/sea-bass/doxylink.git@fix-parse-tag-file