Modified launch files tutorial, added a note to the README.

[Jakeisthesnake]

Description

Launch File tutorial Added explanations for the member function of MoveItConfigsBuilder. Added note about launch nodes for custom .cpp files. Having made these suggestions, I now wonder if I am being too verbose and just cluttering up the documentation when someone wanting to learn more can do what I did and read the source code. So maybe the launch file tutorial should remain unchanged.

README Added a note that building MoveIt can be skipped if only adding explanations, note any executable code. This is mostly addressing my own pain of building MoveIt (about a 3-4 hour process) and I could see it stopping someone from adding a few helpful comments.

Please explain the changes you made, including a reference to the related issue if applicable

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[Jakeisthesnake]

As an aside, I would have liked to add more about '.planning_scene_monitor()' regarding when you need to set its parameters to be true, but I haven't found good explanations regarding common uses cases. If you can point me in the direction of where to learn more, I would be happy to add that info to the tutorial.

[Jakeisthesnake]

Ok, I'll make those edits. Do you know if any of the tutorials discuss the parameters for .planning_scene_monitor()? It seems lacking from the moveit_configuration_tutorial.

[sea-bass]

Ok, I'll make those edits. Do you know if any of the tutorials discuss the parameters for .planning_scene_monitor()? It seems lacking from the moveit_configuration_tutorial.

Thanks!

Maybe those could be mapped to the concepts page at https://moveit.picknik.ai/main/doc/concepts/planning_scene_monitor.html and/or https://moveit.picknik.ai/main/doc/examples/planning_scene_monitor/planning_scene_monitor_tutorial.html ?

[Jakeisthesnake]

Yeah, I can start with those.

[Jakeisthesnake]

If I wanted to cross link to the CMakeLists.txt file in the root moveit2_tutorials directory, how would I do that? :doc:moveit2_tutorials/CMakeLists.txt (the backticks turn "moveit2_tutorials/CMakeLists.txt" into inline code) doesn't seem to work. I assume that is because :doc: only works for files in the doc folder? I also assume that it would be poor form to directly link to "https://github.com/moveit/moveit2_tutorials/blob/main/CMakeLists.txt"

[sea-bass]

If I wanted to cross link to the CMakeLists.txt file in the root moveit2_tutorials directory, how would I do that? :doc:moveit2_tutorials/CMakeLists.txt (the backticks turn "moveit2_tutorials/CMakeLists.txt" into inline code) doesn't seem to work. I assume that is because :doc: only works for files in the doc folder? I also assume that it would be poor form to directly link to "https://github.com/moveit/moveit2_tutorials/blob/main/CMakeLists.txt"

I believe you can use :codedir: -- you can see the definitions here, and also search for similar usages in the .rst files in these docs.

There are other handy ones for linking to e.g. source code in the MoveIt 2 repo, etc.

[Jakeisthesnake]

Thanks!

[Jakeisthesnake]

I may be reading the definition wrong, but it looks like codedir can only reference stuff in the doc folder?

"codedir": (
        "https://github.com/"
        + html_context["github_user"]
        + "/moveit2_tutorials/blob/"
        + html_context["github_version"]
        + "doc/%s",
        "",

[sea-bass]

It does look that way -- maybe instead of linking to the existing repo's CMakeLists.txt, you can just copy-paste a small relevant snippet of what you intend to show?

I assume this is just the compilation of a specific executable given source files?

[Jakeisthesnake]

Yeah I could do that. Just walking through the CMakeLists.txt file for moveit_cpp tutorial.

[Jakeisthesnake]

Updated the tutorial: Moved most of the config specific edits to the configuration tutorial. Aside from adding a link in the launch tutorial to the moveit_cpp tutorial, the launch tutorial went back to how it was. Added the CMakeLists.txt code and explications to the moveit_cpp tutorial.