From ec3061a8583bb7830a98f82b4e69112b05b995dd Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Tue, 30 Jul 2024 20:21:34 -0400 Subject: [PATCH 1/2] Fix docs build --- .gitignore | 1 + doc/examples/hybrid_planning/hybrid_planning_tutorial.rst | 2 +- .../how_to_setup_docker_containers_in_ubuntu.rst | 2 +- htmlproofer.sh | 3 ++- index.rst | 2 +- requirements.txt | 4 ++-- 6 files changed, 8 insertions(+), 6 deletions(-) diff --git a/.gitignore b/.gitignore index cae91a5a97..8a2ea8df65 100644 --- a/.gitignore +++ b/.gitignore @@ -7,5 +7,6 @@ build Gemfile native_build *.gdb +.venv # For local rst builds _build/ diff --git a/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst b/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst index f4431ae182..54ffc75aa6 100644 --- a/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst +++ b/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 `. +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 ` with "moveit_hybrid_planning/ReplanInvalidatedTrajectory" and rebuild the package : :: diff --git a/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst b/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst index cf524b55ca..baec16f093 100644 --- a/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst +++ b/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst @@ -50,7 +50,7 @@ Further Reading refer to `this blog post `_ from PickNik's Vatan Aksoy Tezer and Brennard Pierce. -- You can find a list of tagged tutorial images `here `__. 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 `__. +- 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 `__. - You can find more tagged images for MoveIt 2 Docker containers `here `__. 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. diff --git a/htmlproofer.sh b/htmlproofer.sh index 77c547a6e8..cbb0015e96 100755 --- a/htmlproofer.sh +++ b/htmlproofer.sh @@ -30,7 +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/ | \ diff --git a/index.rst b/index.rst index b72c3d28da..eb06f4e8a6 100644 --- a/index.rst +++ b/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 `_. +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 `_. For the commercially supported version see `MoveIt Pro tutorials `_. .. image:: https://moveit.ros.org/assets/images/roadmap.png diff --git a/requirements.txt b/requirements.txt index 163e9dd054..a5c22e1826 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,8 +1,8 @@ pip docutils==0.18.1 -sphinx>=5.0.0 +sphinx>=5.0.0,<7.3.0 sphinx-tabs==3.4.4 sphinx-multiversion sphinx-rtd-theme sphinx-copybutton -sphinxcontrib-doxylink +sphinxcontrib-doxylink@git+https://github.com/sea-bass/doxylink.git@fix-parse-tag-file From 9b0c4f48027cdf576ef691e63b2cc9a15be36853 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Tue, 30 Jul 2024 20:31:51 -0400 Subject: [PATCH 2/2] Relax requirements --- requirements.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/requirements.txt b/requirements.txt index a5c22e1826..81cc63c63c 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,7 +1,7 @@ pip -docutils==0.18.1 -sphinx>=5.0.0,<7.3.0 -sphinx-tabs==3.4.4 +docutils +sphinx>=5.0.0 +sphinx-tabs sphinx-multiversion sphinx-rtd-theme sphinx-copybutton