Main is the default branch (#685)

tylerjw · web-flow · commit a4fd1f3d7383 · 2023-05-24T16:44:07.000-06:00
Signed-off-by: Tyler Weaver &lt;tyler@picknik.ai&gt;
diff --git a/Makefile b/Makefile
@@ -11,7 +11,7 @@ help:
 
 multiversion: Makefile
 	sphinx-multiversion $(OPTS) "$(SOURCE)" build/html
-	@echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=humble/index.html\" /></head></html>" > build/html/index.html
+	@echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=main/index.html\" /></head></html>" > build/html/index.html
 
 local-with-api: Makefile
 	@echo Building local with API
diff --git a/_static/images/logo.png b/_static/images/logo.png
diff --git a/_static/images/rolling-small.png b/_static/images/rolling-small.png
diff --git a/_templates/page.html b/_templates/page.html
@@ -13,13 +13,8 @@
       <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
 
       {% elif current_version.is_released %}
-      You're reading the documentation for an older, but still supported, version of MoveIt 2.
-      For information on the recommended stable version, please have a look at
-      <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
-
-      {% else %}
-      You're reading the documentation for the non-stable development version of MoveIt 2.
-      For the stable, released version, please have a look at
+      You're reading the documentation for a stable version of MoveIt that is not being developed further.
+      For information on the recommended version, please have a look at
       <a href="{{ vpathto(latest_version.name) }}">{{latest_version.name | title }}</a>.
       {% endif %}
   </p>
diff --git a/_templates/versions.html b/_templates/versions.html
diff --git a/conf.py b/conf.py
@@ -134,8 +134,8 @@
 # smv_tag_whitelist = None
 
 smv_branch_whitelist = r"^(main|humble)$"
-smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(humble).*$"
-smv_latest_version = "humble"
+smv_released_pattern = r"^refs/(heads|remotes/[^/]+)/(main|humble).*$"
+smv_latest_version = "main"
 smv_eol_versions = []
 smv_remote_whitelist = r"^(origin|upstream)$"
 smv_prefer_remote_refs = True
diff --git a/doc/examples/planning_adapters/planning_adapters_tutorial.rst b/doc/examples/planning_adapters/planning_adapters_tutorial.rst
@@ -200,8 +200,8 @@ This section has insights as to when to use which planner and how using certain
 
 For more information on each of these motion planners, refer to their individual tutorial pages
 :doc:`OMPL </doc/examples/ompl_interface/ompl_interface_tutorial>`,
-:doc:`CHOMP </doc/examples/chomp_planner/chomp_planner_tutorial>` and
-:doc:`STOMP </doc/examples/stomp_planner/stomp_planner_tutorial>`.
+:doc:`CHOMP </doc/examples/chomp_planner/chomp_planner_tutorial>`, and
+:doc:`STOMP </doc/how_to_guides/stomp_planner/stomp_planner>`.
 
 - **OMPL as a pre-processor for CHOMP**: OMPL can used as a base planner to produce an initial motion plan which can act as a initial guess for CHOMP. CHOMP can then produce optimized paths. In most cases, the quality of such a path produced should be better than that produced by OMPL alone or CHOMP alone.
 
diff --git a/doc/how_to_guides/stomp_planner/stomp_planner.rst b/doc/how_to_guides/stomp_planner/stomp_planner.rst
@@ -29,7 +29,7 @@ Using STOMP with Your Robot
 ---------------------------
 **Note:** if you are following this demo using the ``panda_moveit_config`` from the `ros-planning/panda_moveit_config <https://github.com/ros-planning/panda_moveit_config>`_ repository, these steps are already done for you and you can directly launch the demo for testing STOMP in RViZ.
 
-#. Simply add the `stomp_planning.yaml <https://github.com/ros-planning/panda_moveit_config/blob/ros2/config/stomp_planning.yaml>`_ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: ::
+#. Simply add the `stomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/stomp_planning.yaml>`__ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: ::
 
     planning_plugin: stomp_moveit/StompPlanner
     request_adapters: >-
@@ -77,7 +77,7 @@ If you have the ``panda_moveit_config`` from the `ros-planning/moveit_resources
 
 STOMP Parameters
 ----------------
-STOMP's parameters are configurable using the `stomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/stomp_planning.yaml>`_. All parameters are defined by the `stomp_moveit.yaml <https://github.com/ros-planning/moveit2/blob/main/moveit_planners/stomp/res/stomp_moveit.yaml>`_ which is used as input for the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_. In that file you can also find more information like default values and allowable ranges:
+STOMP's parameters are configurable using the `stomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/stomp_planning.yaml>`__. All parameters are defined by the `stomp_moveit.yaml <https://github.com/ros-planning/moveit2/blob/main/moveit_planners/stomp/res/stomp_moveit.yaml>`_ which is used as input for the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_. In that file you can also find more information like default values and allowable ranges:
 
 **Optimization Parameters**:
 
diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst
@@ -7,10 +7,17 @@ Building all the source code of MoveIt can take 20-30 minutes, depending on the
 
 Install ROS 2 and Colcon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-:ros_documentation:`Install ROS 2 {DISTRO_TITLE}<Installation.html>`.
-It is easy to miss steps when going through the ROS 2 installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS 2 correctly.  One that users commonly forget is to source the ROS 2 install itself.  ::
+MoveIt 2 currently supports multiple versions of ROS.
+Install whichever version you prefer.
+We primarily support ROS installed Ubuntu 22.04 but other methods and platforms may work with small changes to the instructions listed below.
+If you are just getting started we would recommend you use the latest stable version of ROS (Iron) on Ubuntu 22.04 for the most seamless experience.
+- `Rolling Ridley <https://docs.ros.org/en/rolling/Installation.html>`_ - Rolling Development Release
+- `Irin Irwini <https://docs.ros.org/en/iron/Installation.html>`_ - Latest Stable Release - May 2023
+- `Humble Haskbill <https://docs.ros.org/en/humble/Installation.html>`_ - LTS Release - May 2022
 
-  source /opt/ros/rolling/setup.bash
+It is easy to miss steps when going through the ROS 2 installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS 2 correctly.  One that users commonly forget is to source the ROS 2 install itself. Note to source the version of ROS you installed.  ::
+
+  source /opt/ros/iron/setup.bash
 
 .. note:: Unlike ROS 1 setup scripts, in ROS 2 the setup scripts do not attempt to switch what version of ROS you are using.  This means that if you have previously sourced a different version of ROS, including from within your ``.bashrc`` file, you will run into errors during the building step.  To fix this change what is sourced in your ``.bashrc`` and start a new terminal.
 
diff --git a/doc/tutorials/your_first_project/your_first_project.rst b/doc/tutorials/your_first_project/your_first_project.rst
@@ -3,7 +3,7 @@ Your First C++ MoveIt Project
 
 This tutorial will step you through writing your first C++ application with MoveIt.
 
-Warning: Most features in MoveIt will not work properly since additional parameters are required for full Move Group functionality. For a full setup, please continue with the :doc:`Move Group C++ Interface Tutorial <doc/examples/move_group_interface/move_group_interface_tutorial>`.
+Warning: Most features in MoveIt will not work properly since additional parameters are required for full Move Group functionality. For a full setup, please continue with the :doc:`Move Group C++ Interface Tutorial </doc/examples/move_group_interface/move_group_interface_tutorial>`.
 
 Prerequisites
 -------------
