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-Having a slightly more detailed overview of what MoveIt and the setup wizard are. I know it's a "motion planning framework", but what are the high-level steps one needs to use the framework -- do I subclass from MoveIt provided base classes? Is it a library of API calls?

-More of an explanation of what SRDF is and its relationship to URDF. Also clarify the point of the setup wizard is to generate those files.

-I wasn't really sure what I was doing in the setup wizard. I sort of understood from intuition what things like "planning group" are, but more explanation both in the GUI and on the wiki are useful. I suggest also using tooltips.

When you get to the Groovy start for the work shop, the start instructions are at the bottom and you need to scroll down to get to it. Suggest placing the start instructions at the top:

Link
http://moveit.ros.org/wiki/index.php/Groovy/PR2/Rviz_Plugin/Quick_Start

Instead of:

{{{
wget https://raw.github.com/ros-planning/moveit_docs/master/moveit.rosinstall
mkdir src
rosinstall src/ /opt/ros/groovy moveit.rosinstall
}}}

Use:

{{{
mkdir src
cd src/
rosws init .
rosws merge https://raw.github.com/ros-planning/moveit_docs/master/moveit.rosinstall
rosws update
}}}

moveit.rosinstall for indigo-devel uses hydro-devel packages.
there is no difference between indigo-devel/moveit.rosinstall and hydro-devel/moveit.rosinstall,
https://github.com/ros-planning/moveit_docs/blob/hydro-devel/moveit.rosinstall
https://github.com/ros-planning/moveit_docs/blob/indigo-devel/moveit.rosinstall

should indigo-devel/moveit.rosinstall use indigo-devel versions for the packages that have indigo branches?
i found it to be a problem while installing from source with rosinstall.

Many of the python doxygen doc pages are missing, e.g. (RobotCommander).

Hi,
The first link "previous tutorial" in the page http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start point to the page http://moveit.ros.org/wiki/Groovy/PR2/Rviz_Plugin/Quick_Start, but it was moved without a redirect to http://moveit.ros.org/wiki/PR2/Rviz_Plugin/Quick_Start.
Thanks

• If we do another demo where we require a certain version of ros from a certain repo, we need to provide instructions on how to get to that state
• It is not clear how to create pr2.urdf. There is a link to http://moveit.ros.org/wiki/index.php/Groovy/URDF which is confusing: most of that is not needed for the tutorial, but the 2 line command that installs ros-groovy-pr2-common and runs xacro is needed. Or else if the file is available in some standard place we need to mention where that standard place is.
• Most of the boxed comments on the wiki are shell commands or contents of files which need to be created. But there are also some other uses. These are confusing and people tried to copy/paste them to the shell. Should remove these or somehow mark them so they look different
• several people were confused by the last step in setup assistant where they have to create a directory and then open that directory. Selecting directory names that do not exist yet is unintuitive in the file dialog.
• People had trouble setting FixedFrame because just below the field they need to set is another field also named FixedFrame which is bright red until the fixed frame is set correctly. Maybe rename one of these fields?
• remembering to source ~/moveit/devel/setup.bash was troublesome for some people not used to ROS.

Assuming we want to stick with Sphinx. We could just stick with the Wiki since its easier to update for everyone else.

Find wiki at http://moveit.ros.org/wiki/MoveIt!

The "MoveIt! Setup Assistant tutorial" link on http://docs.ros.org/indigo/api/moveit_ros_visualization/html/doc/tutorial.html goes to http://docs.ros.org/api/moveit_setup_assistant/html/doc/tutorial.html which produces a 404.

Here: http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start#MoveIt.21_and_ROS

If current instructions are followed precisely, there is an error due to missing PR2 description. This is solved by installing package "ros-groovy-pr2-common"

TODO: Update wiki tutorial documentation to instruct users to install this additional package

Overall we need to get MoveIt! docs back up to speed

• Address discrepancies between Doxygen / Sphinx / Wiki documentation that MoveIt! uses #26
• Address copyright issues #24
• Make it easier for non-core developers to contribute
  • Add "Edit on Github Link": ros-infrastructure/rosdoc_lite#53
  • Document how to document
  • Announce on mailing list
• Release pr2_moveit_tutorials to Indigo so that all the tutorials are the latest
• Finish copying contents from the old MoveIt! wiki #27
• Move moveit.ros.org Tutorial and Code API pages to their own Sphinx doc pages for easier editing

Of course no one has time to do all of this, so everyone's help is appreciated

On ros.org we need to somehow fix our code to have its doxygen pages correctly generated. It kinda works for the MoveIt Setup Assistant but for example MoveIt Ros does not work.

Also, we should take down the old out of date doxygen stuff on this page:
http://moveit.ros.org/wiki/index.php/Groovy/API

Hi,

When a I execute:

roslaunch pr2_moveit_generated moveit_planning_execution.launch" 

after generate the config and launch files as indicates the "Groovy/PR2/Gazebo/Quick Start" tutorial, the execution is aborted displaying the msg:

unused args [publish_monitored_planning_scene] for include of [/home/sebasgm/moveit/tests/pr2_moveit_new_config/launch/move_group.launch]

And, actually, when I open the "move_group.launch" from my "configuration package" for PR2. The argument is not there.

Do I have to manually add it, or there is something wrong with the configuration package generation?

Not sure where is the wiki doc repository so I post here.

In Simple MoveIt! Controller Manager Plugin page/section, link to controllers.yaml is broken. You might want this.

the instruction
sudo apt-get install ros-groovy-robot-model-visualization
is in the Debian Install page but not in the Source Install page, so if you follow the Source Install instructions, joint_state_publisher is missing.

I generated a demo launch in order to test the robonaut moveit configuration, and it seems to be all right except that the console shows the following msg as part of the console output:

[ INFO] [1357933728.441954958]: No root joint specified. Assuming fixed joint

And the rviz interface doesn't let me specify a planning trajectory with interactive markers.

I generated the configuration file defining as Virtual Joint Link "baseplate", and Parent Link "world". Is this correct?

Should I change the "odom_broadcaster" from tf package, used in the PR2 demo?

Here a copy of the mail I sent to Sachin:

A few issues you may want to look at before ICRA workshop (tested on a clean Ubuntu 12.10 with latest Groovy packages):

• following instructions here to install MoveIt from the source, compilation fails with

Could not find a package configuration file provided by
  "household_objects_database_msgs"

After installing this dependency, it still fails:

 Messages depends on unknown pkg: household_objects_database_msgs (Missing
  find_package(household_objects_database_msgs?))

(I'm stucked here btw)

• In rviz plugin quickstart, the first package to install should be ros-groovy-pr2-moveit-config, not ros-groovy-pr2-common I guess
• On the MoveIt wizard page, you may want to tell people to avoid dashes in joint names (which is not forbidden in URDF files!) because it causes failures later on when starting OMPL
• On that page, the section 'Launch the planning components for MoveIt! ' is wrong. Should be smthg like

<include file="$(find pr2_moveit_config)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="false"/>
  </include>

See below, where the instructions tell you to save the upload_r2.launch file, the reference in r2_demo is then not to the same place. Also, in r2_demo, the same node : joint_state_publisher is asked to be put in the launch file twice with two different descriptions as to why.

upload_r2.launch: save this file in the launch directory of the generated MoveIt configuration package.

r2_demo

Launch the robot description 

1. From ros.org, search for moveit brings the wrong stuff

2. Deb install down

3. I had legacy junk in my .bashrc file that caused lots of problems
   until Ioan basically wiped it out and gave me a new shell.

4. In http://moveit.ros.org/wiki/index.php/Groovy/PR2/Setup_Assistant/Quick_Start

   a. In planning groups, highlight the difference in the buttons,
   esp. since the left arm is treated differently than the right.

   b. In Robot Poses, the "Important Tip:..." box doesn't wrap
   properly in the web browser

should be:
roscd pr2_moveit_config
emacs launch/demo.launch

this messes things up when we try to run with gazebo

I noticed in the generated Sphinx documentation all tutorials for MoveIt say

© Copyright 2013, SRI International.

This is true for tutorials I have mostly written, such as IKFast and Joystick Control.

I'd like to try and revamp MoveIt! documentation, as per #15 but would like to clarify this copyright first. Could we remove it or make it say Creative Commons or something? The copyright is added here

Travis jobs use the moveit.rosinstall file, and we need to update them to indigo for certain jobs -- if someone with rights can create an indigo-devel branch, I can open a PR for the updates needed.

I'm sure our Debian users will be very confused when they discover that we're packaging debs for Ubuntu and not Debian.

robot_state_publisher was not getting installed when I did a fresh install. I had to install ros-groovy-robot-model separately.

On MoveIt! packages that use Sphinx to generate tutorials (moveit_ikfast, moveit_ros_visualization, pr2_moveit_tutorials, moveit_setup_assistant) there is no Doxygen API docs as is standard for all ROS C++ packages.

Perhaps we should use Breath or a hybrid approach