You're reading the documentation for the non-stable development version of MoveIt 2. For the stable, released version, please have a look at Humble.
How to Contribute to This Site
This explains what you need to know to successfully submit changes to this site.
How to locally build this website.
How to check for broken links.
How to check spelling and formatting.
How to run CI locally for checking code changes.
Build and view the website locally
cdto the root directory of the moveit2_tutorials repo (if you followed the Getting Started tutorial, this will be
~/ws_moveit/src/moveit2_tutorials). From that directory, run this command:make html # Or run the following lines if you want to automatically rebuild the website on new changes while inotifywait -re modify,move,create,delete .; do make html done
Then you can open the local build of the site in your web browser from:
./build/html/index.html. For example, to open the local site in your default browser the command would be:xdg-open ./build/html/index.html
Test for broken links
To test for broken links run this command:./htmlproofer.sh
Run the formatters and spellchecker
We use pre-commit to run the formatting and spelling checkers. You can install it with pip like this:python3 -m pip install --user pre-commit
To run pre-commit locally to fix formatting and spelling:pre-commit run --all
Run industrial_ci locally to run CI
Clone a copy of industrial_ci into your workspace.
Build and source your workspace.
Run this command from the workspace directory to test code changes just as it is done in CI:ros2 run industrial_ci rerun_ci src/moveit2_tutorials \ DOCKER_IMAGE='moveit/moveit2:rolling-source' \ UPSTREAM_WORKSPACE='moveit2_tutorials.repos' \ TARGET_CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Release' \ CCACHE_DIR="$HOME/.ccache" \ CLANG_TIDY='true'