Update requirements.txt for humble branch (#855)

.github/workflows/deploy.yml

@@ -34,7 +34,7 @@ jobs:
 
     - uses: ruby/setup-ruby@v1
       with:
-        ruby-version: '2.7'
+        ruby-version: '3'
 
     - name: Run htmlproofer.sh
       run: ./htmlproofer.sh

conf.py

@@ -58,7 +58,7 @@
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = "en"
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.

doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -124,7 +124,7 @@ Such a constraint is compactly defined like this::
 Running the database generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`_
+Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to :moveit_codedir:`generate_state_database.launch <moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`.
 
 The file with the constraint definitions can be passed to the launch file::
 

doc/examples/stomp_planner/stomp_planner_tutorial.rst

@@ -88,23 +88,15 @@ If you have the ``panda_moveit_config`` from the `ros-planning/panda_moveit_conf
 
 Running STOMP with Obstacles in the Scene
 +++++++++++++++++++++++++++++++++++++++++
-To run STOMP in an environment with obstacles, you can run the sample python script:
-
-  :codedir:`collision_scene_example.py<examples/collision_environments/scripts/collision_scene_example.py>`.
-
-This scripts creates a cluttered scene with four ostacles or a simple scene with one obstacle depending on the argument given to the script. One can also change the position/size of the obstacles to change the scene.
+To add obstacles to the scene, we can use :codedir:`this node<examples/collision_environments/src/collision_scene_example.cpp>` to create a scene with obstacles.
 
 To run the STOMP planner with obstacles, open two terminals. In the first terminal start RViz and wait for everything to finish loading: ::
 
   roslaunch panda_moveit_config demo_stomp.launch
 
-In the second terminal, run either of the two commands: ::
-
-  rosrun moveit_tutorials collision_scene_example.py cluttered
-
-or: ::
+In the second terminal, run the command: ::
 
-  rosrun moveit_tutorials collision_scene_example.py sparse
+  ros2 run moveit2_tutorials collision_scene_example
 
 Next, in RViz, select STOMP in the MotionPlanning panel under the Context tab. Set the desired start and goal states by moving the end-effector around with the imarker and then click on the Plan button under the Planning tab in the MotionPlanning panel to start planning. The planner will now attempt to find a feasible solution between the given start and end position. STOMP performs better than CHOMP in avoiding obstacles. This is due to STOMP's stochastic nature which produces non-jerky trajectories as opposed to CHOMP which often produces jerky paths to avoid obstacles.
 

doc/examples/visualizing_collisions/src/visualizing_collisions_tutorial.cpp

@@ -166,7 +166,7 @@ int main(int argc, char** argv)
   //
   // Initializing the Planning Scene and Markers
   // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  // For this tutorial we use an :codedir:`InteractiveRobot <interactivity/src/interactive_robot.cpp>`
+  // For this tutorial we use an :codedir:`InteractiveRobot <examples/interactivity/src/interactive_robot.cpp>`
   // object as a wrapper that combines a robot_model with the cube and an interactive marker. We also
   // create a PlanningScene for collision checking. If you haven't already gone through the
   // :doc:`planning scene tutorial </doc/examples/planning_scene/planning_scene_tutorial>`, you go through that first.

doc/how_to_guides/chomp_planner/chomp_planner_tutorial.rst

@@ -20,7 +20,7 @@ Using CHOMP with Your Robot
 ---------------------------
 **Note:** If you plan to use the ``panda_moveit_config`` package from the `ros-planning/moveit_resources <https://github.com/ros-planning/moveit_resources/tree/ros2>`_ repository, these steps are already done for you and you can skip this section. Otherwise, to add the configuration for your robot you must:
 
-#. Create a :codedir:`chomp_demo.launch.py<examples/chomp_planner/launch/chomp_demo.launch.py>` file in the launch directory for your MoveIt config package.
+#. Create a :codedir:`chomp_demo.launch.py<how_to_guides/chomp_planner/launch/chomp_demo.launch.py>` file in the launch directory for your MoveIt config package.
 #. Modify all references to Panda in ``chomp_demo.launch.py`` to point to your custom configuration instead
 #. Ensure you have included a  :moveit_resources_codedir:`chomp_planning.yaml <panda_moveit_config/config/chomp_planning.yaml>` file in the config directory of your MoveIt config package.
 #. Open ``chomp_planning.yaml`` in your favorite editor and change ``animate_endeffector_segment: "panda_rightfinger"`` to the appropriate link for your robot. Feel free to modify any parameters you think may better suit your needs.

requirements.txt

@@ -1,7 +1,7 @@
 pip
-docutils==0.16
-sphinx==4.3.2
-sphinx-tabs
+docutils==0.18.1
+sphinx>=5.0.0
+sphinx-tabs==3.4.4
 sphinx-multiversion
 sphinx-rtd-theme
 sphinx-copybutton