Update tutorials, add default velocity/acceleration scaling factors

[felixvd]

Description

For this PR, I added two explicit mentions of the default velocity/acceleration scaling factors.

While I was editing the tutorials, I started getting distracted and added some documentation for the joint sliders and the cartesian path checkbox. Those features are great and deserve some love. I also added a few lines with an example that I remember missing, and which have had a lot of views on ROS answers.

I kept the commits separate, but I didn't bother filing a separate PR.

One issue: I added a .webm file as an animation, but I don't know how to integrate it, and build_locally.sh didn't work in the container for me. Would be grateful for pointers.

Checklist

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[v4hn]

I kept the commits separate, but I didn't bother filing a separate PR.

This should have been separate requests indeed...

Concerning the default_scaling_factor, this is not really what I had in mind (I thought of a separate tutorial to set the parameters in the yaml or in code).
Still, it probably suffices 👍

[rhaschke]

The images rviz_plan_cartesian.png and rviz_plan_free.png are mixed up.

[felixvd]

Nice catch. I updated this.

[v4hn]

@felixvd indeed, the webm embedding did not work as expected:
https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Please create a follow-up pull-request to address this.

[felixvd]

Would you be OK with simply linking to the animation, rather than displaying it inline? When I tried converting it to a GIF, it became 3 times larger and 10 times as ugly. Alternatively, if you can tell me how to get `build-locally.sh` to run, I could try to inline the video.

…

On Mon, 16 Mar 2020 at 21:14, Michael Görner ***@***.***> wrote: @felixvd <https://github.com/felixvd> indeed, the webm embedding did not work as expected: https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html Please create a follow-up pull-request to address this. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#468 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABCTLOM2LW7SEJ36G2OOU43RHYJ3BANCNFSM4LDPXOPA> .

[v4hn]

Alternatively, if you can tell me how to get build-locally.sh to run, I could try to inline the video.

It works just fine for me, but of course I don't run your system/container. What's the error message?

When I tried converting it to a GIF, it became 3 times larger and 10 times as ugly.

The size is not a problem from my point of view, but I agree with ugly.
How about a clickable image of the process instead?
I do not particularly like to have people click on a link to see the GUI.

[rhaschke]

For build_locally.sh you need to install rosdoc_lite and then source your ROS environment.

[felixvd]

After creating a fresh moveit/moveit:master-source container on Ubuntu 18.04 (docker pull moveit/moveit:master-source) and running apt install rosdoc-melodic-rosdoc-lite snapd-xdg-open xdg-utils inside it, I get these errors. I don't find the html files in the build directory afterwards.

[v4hn]

The console output looks pretty much like ~/ws_moveit/src/moveit_tutorials/build/html/index.html should exist now.
The errors only complain about no browser being available (fair enough for the container).

[felixvd]

My bad, I was looking in ~ws_moveit/build/moveit_tutorials/ 🙄

Will fix soon.