Moveit: Validate existing MoveIt tutorials documentation [Melodic]

[cardboardcode]

Why?

Similar to Issue #645, this issue thread is created to facilitate checks for existing Getting Started or Advanced MoveIt Tutorials specifically for the version ROS Morenia Melodic

While the issue linked is similar, it seems it is specific to the ROS Kinetic Kame version of the MoveIt Tutorials. As @davetcoleman mentioned in this comment, more testing is needed for Melodic.

Purpose?

Highlight as much spelling errors, code syntax errors spotted in the documentation as possible.
The assignee (probably me) will collate all the needed changes and make a pull request.

Link

https://docs.ros.org/melodic/api/moveit_tutorials/html/index.html

[welcome[bot]]

Thanks for reporting an issue. We will have a look asap. If you can think of a fix, please consider providing it as a pull request.

[cardboardcode]

MoveIt Tutorials Sections Validated

• CHOMP Planner
• STOMP Planner
• Planning Adapter Tutorial
• Joystick Control Teleoperation
• Benchmarking
• Integrations/Unit Tests

Required Edits

The section below lists what are the potential edits required to correct and/or improve the documentation for the MoveIt Melodic Tutorials.

Each edit is corresponded to the specific Section or Section header.

CHOMP Planner

1. Add full stop (.) at the end of the statement description smoothness_cost_weight under Section header, Tweaking some of the parameters for CHOMP.
   [Rationale] - Sentence structure error.

2. Place in bullet point for the unused/commented parameters under Section header, Tweaking some of the parameters for CHOMP.
   [Rationale] - Clearer format for easy reading.

3. Bold the parameter variables under Section header, Tweaking some of the parameters for CHOMP.
   [Rationale] - Clearer format for easy reading.

STOMP Planner

1. Put in bullet point for the Strengths of STOMP under Section Header, STOMP Planner.
   [Rationale] - Clearer format for easy reading.

2. Fix more info hyperlink under Section Header, STOMP Planner.
   [Rationale] - For providing proper link to compliment tutorial information.

3. Bold the parameter variables under Section header, Tweaking some of the parameters for STOMP.
   [Rationale] - Clearer format for easy reading.

4. Remove STOMP after first line in content under Section Header, Difference between plans obtained by STOMP, CHOMP and OMPL
   [Rationale] - Trivial typo error.

5. Clarification of phrase within reasonable times under Section Header, STOMP Planner
   [Rationale] - Would provide a more concrete image of what level of proficiency STOMP operates in.

The rest of the sections validated do not require further edits.

[sheikspeare]

MoveIt Tutorials Sections Validated

_Perception Pipeline Tutorial_

-> Detecting and Adding Object

1. Replace rviz with RViz
   [Rationale] - Be consistent with naming conventions.

1. Transform cache issue - is this updated and resolved by @Ridhwanluthra & @MohmadAyman ?

Have gone through Perception pipeline until OMPL Planner, seems to be fine.

[rhaschke]

Thanks @cardboardcode and @sheikspeare for validating the tutorials.
Could you, please, directly file PRs with the proposed changes? The tutorials reside in doc/*/*.rst files in the repo https://github.com/ros-planning/moveit_tutorials. You can even edit those files directly on github (and preview your changes). Thanks a lot!

[cardboardcode]

@rhaschke
Hi Mr Haschke, noted. :smile:

While I wait for the rest of my team to validate the rest of the MoveIt tutorials, I will compile the edit suggestions here and make an overall Pull Request (PR).

Will update again once all the validation has been done.

[davetcoleman]

Thanks for validating these!

Let's also make sure whatever changes get merged into melodic, also get merged into the master branch where active development is.

[ngwk1]

MoveIt Tutorials Sections Validated

Getting Started
MoveIt Quickstart in RViz
Move Group C++ Interface

-> Getting Started

1. Opened an issue and submitted a pull request #425.

-> Moveit Quickstart in RViz and Move Group C++ Interface

1. Seems fine.

[duckiekings]

MoveIt Tutorial Sections Validated:

• Planning Scene ROS API

• Motion Planning API

• Motion Planning Pipeline

The documentation is fine. No fault found in this sections.

[EdmundNg1998]

MoveIt Tutorial Sections Validated

• Pick and Place

• Moveit Grasps

• Moveit Task Constructor

• Moveit Setup Assistant

• URDF and SRDF

• Low Level Controllers

The documentation is alright. No errors found in these sections.