How to Contribute to This Site

This explains what you need to know to successfully submit changes to this site.

Learning Objectives

  • 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.

Requirements

Steps

  1. Build and view the website locally

First, cd to 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

  1. Test for broken links

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.

python3 -m venv .venv
source .venv/bin/activate

You can then install requirements using pip:

pip3 install --upgrade --requirement requirements.txt

You can run the htmlproofer script with this command:

./htmlproofer.sh

  1. 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

  1. 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'

Further Reading