Fix broken links (#173)

* README: fix link to classic.gazebosim.org
* Remove host from gazebosim.org/tutorials links:
  Shorten the start of all Markdown links starting with
  http://gazebosim.org/tutorials to /tutorials

Signed-off-by: Steve Peters <[email protected]>

Author: scpeters

README.md

@@ -1,7 +1,7 @@
 # Gazebo Tutorials #
 
-This repository contains the source for each gazebo tutorial found on [Gazebo Tutorials](http://gazebosim.org/tutorials).
+This repository contains the source for each gazebo tutorial found on [Gazebo Tutorials](http://classic.gazebosim.org/tutorials).
 
 ## Tips for creating tutorials
 
-1. Add images and/or videos where appropriate so that the reader has a reference image to compare their simulation instance against.
+1. Add images and/or videos where appropriate so that the reader has a reference image to compare their simulation instance against.

actor/tutorial.md

@@ -18,7 +18,7 @@ environment.
 # Actors
 
 In Gazebo, an animated model is called an `actor`. Actors extend
-[common models](http://gazebosim.org/tutorials?tut=build_model&cat=build_robot),
+[common models](/tutorials?tut=build_model&cat=build_robot),
 adding animation capabilities.
 
 There are two types of animations which can be used separately or combined
@@ -39,7 +39,7 @@ moves in the world:
     [[file:files/skel_traj_full.gif|300px]]
 
 Gazebo's actors are just like
-[models](http://gazebosim.org/tutorials?tut=build_model),
+[models](/tutorials?tut=build_model),
 so you can put links and joints inside them as usual. The main differences are:
 
 * Actors are always static (i.e. no forces are applied on them, be it from
@@ -180,7 +180,7 @@ fluid motion, but the exact poses contained in the waypoints might not be reache
 
 > **Tip**: Non-actor models can also follow scripted trajectories, but that
 requires the use of plugins. See
-[this](http://gazebosim.org/tutorials?tut=animated_box)
+[this](/tutorials?tut=animated_box)
 tutorial to learn how.
 
 Now it's your turn! Try out different trejctory descriptions before moving on to
@@ -225,7 +225,7 @@ The actor in the example above is really simple, all it loads is a COLLADA file
 described within the `<skin>` tag.
 
 > **Note**: If you've made
-[custom](http://gazebosim.org/tutorials?tut=import_mesh&cat=build_robot)
+[custom](/tutorials?tut=import_mesh&cat=build_robot)
 Gazebo models before, you might have used COLLADA files as visuals and
 collisions for your models. When used within *links*, COLLADA animations are
 ignored, but when used within *skins*, they are loaded!
@@ -236,7 +236,7 @@ The file specified in `<filename>` can be an absolute path, for example:
 
 You can also tell Gazebo to look for the mesh in all the directories contained in
 the environment variable
-[`GAZEBO_MODEL_PATH`](http://gazebosim.org/tutorials?tut=components),
+[`GAZEBO_MODEL_PATH`](/tutorials?tut=components),
 like this:
 
     model://skeketon_model/skeleton.dae
@@ -396,7 +396,7 @@ take a look at an example of how to change the trajectory dinamically using
 plugins.
 
 > **Tip**: If you're not familiar with Gazebo plugins, take a look at some
-[plugin tutorials](http://gazebosim.org/tutorials?cat=write_plugin) first.
+[plugin tutorials](/tutorials?cat=write_plugin) first.
 
 Gazebo has an example world with actors moving around while avoiding obstacles.
 Take a look at it running:

add_laser/tutorial.md

@@ -1,6 +1,6 @@
 # Overview
 
-**Prerequisites:** [Attach a Mesh as Visual](http://gazebosim.org/tutorials/?tut=attach_meshes)
+**Prerequisites:** [Attach a Mesh as Visual](/tutorials/?tut=attach_meshes)
 
 This tutorials demonstrates how the user can create composite models directly
 from other models in the
@@ -75,4 +75,4 @@ Adding a laser to a robot, or any model, is simply a matter of including the sen
 
 ## Next
 
-[Next: Make a Simple Gripper](http://gazebosim.org/tutorials/?tut=simple_gripper)
+[Next: Make a Simple Gripper](/tutorials/?tut=simple_gripper)

add_laser/tutorial_6+.md

@@ -1,6 +1,6 @@
 # Overview
 
-**Prerequisites:** [Attach a Mesh as Visual](http://gazebosim.org/tutorials/?tut=attach_meshes)
+**Prerequisites:** [Attach a Mesh as Visual](/tutorials/?tut=attach_meshes)
 
 This tutorials demonstrates how the user can create composite models directly
 from other models in the
@@ -68,4 +68,4 @@ Adding a laser to a robot, or any model, is simply a matter of including the sen
 
 ## Next
 
-[Next: Make a Simple Gripper](http://gazebosim.org/tutorials/?tut=simple_gripper)
+[Next: Make a Simple Gripper](/tutorials/?tut=simple_gripper)

attach_gripper/tutorial-1.9+.md

@@ -2,9 +2,9 @@
 
 **Prerequisites:**
 
-  [Make a Mobile Robot](http://gazebosim.org/tutorials/?tut=build_robot)
+  [Make a Mobile Robot](/tutorials/?tut=build_robot)
 
-  [Make a Simple Gripper](http://gazebosim.org/tutorials/?tut=simple_gripper)
+  [Make a Simple Gripper](/tutorials/?tut=simple_gripper)
 
 This tutorial explains how to create a composite robot from existing robot parts, i.e. mobile base, simple arm and simple gripper.
 
@@ -14,7 +14,7 @@ Start up gazebo and make sure you can load the models from the two previous tuto
 
 ## Mobile Base
 
-1. Per instructions in [Make a Mobile Robot](http://gazebosim.org/tutorials/?tut=build_robot) tutorial, you should have a mobile base robot at your disposal:
+1. Per instructions in [Make a Mobile Robot](/tutorials/?tut=build_robot) tutorial, you should have a mobile base robot at your disposal:
 
     [[file:files/Mobile_base.png|640px]]
 

attach_gripper/tutorial.md

@@ -2,9 +2,9 @@
 
 **Prerequisites:**
 
-  [Make a Mobile Robot](http://gazebosim.org/tutorials/?tut=build_robot)
+  [Make a Mobile Robot](/tutorials/?tut=build_robot)
 
-  [Make a Simple Gripper](http://gazebosim.org/tutorials/?tut=simple_gripper)
+  [Make a Simple Gripper](/tutorials/?tut=simple_gripper)
 
 This tutorial explains how to create a composite robot from existing robot parts, i.e. mobile base, simple arm and simple gripper.
 
@@ -14,7 +14,7 @@ Start up gazebo and make sure you can load the models from the two previous tuto
 
 ## Mobile Base
 
-1. Per instructions in [Make a Mobile Robot](http://gazebosim.org/tutorials/?tut=build_robot) tutorial, you should have a mobile base robot at your disposal:
+1. Per instructions in [Make a Mobile Robot](/tutorials/?tut=build_robot) tutorial, you should have a mobile base robot at your disposal:
 
     [[file:files/Mobile_base.png|640px]]
 

attach_meshes/tutorial.md

@@ -1,6 +1,6 @@
 # Overview
 
-**Prerequisites:** [Make a mobile robot](http://gazebosim.org/tutorials/?tut=build_robot)
+**Prerequisites:** [Make a mobile robot](/tutorials/?tut=build_robot)
 
 Meshes can add realism to a model both visually and for sensors.  This tutorial demonstrates how the user can use custom meshes to define how their model will appear in simulation.
 
@@ -105,7 +105,7 @@ The most common use case for a mesh is to create a realistic looking visual.
 
 ##Further Reading##
 
-When creating a new robot, you'll likely want to use your own mesh file. The [import a mesh tutorial](http://gazebosim.org/tutorials/?tut=import_mesh) describes how to go about importing a mesh into a format suitable for Gazebo.
+When creating a new robot, you'll likely want to use your own mesh file. The [import a mesh tutorial](/tutorials/?tut=import_mesh) describes how to go about importing a mesh into a format suitable for Gazebo.
 
 ## Try for yourself ##
 
@@ -119,4 +119,4 @@ Note: Materials (texture files such with extension like .png or .jpg), should be
 
 ##Next##
 
-[Next: Add a Sensor to a Robot](http://gazebosim.org/tutorials/?tut=add_laser)
+[Next: Add a Sensor to a Robot](/tutorials/?tut=add_laser)

build_model/tutorial-7.md

@@ -74,4 +74,4 @@ Here is a good order in which to add features:
 1. Add all plugins (if any).
 
 With each new addition, load the model using the graphical client to make sure your model is correct.
-However, the `box.sdf` file alone isn't enough to be able to load the model into the graphical client. You must also setup your model directory correctly, which you will learn in the next tutorial: [Make a Mobile Robot](http://gazebosim.org/tutorials?tut=build_robot&cat=build_robot).
+However, the `box.sdf` file alone isn't enough to be able to load the model into the graphical client. You must also setup your model directory correctly, which you will learn in the next tutorial: [Make a Mobile Robot](/tutorials?tut=build_robot&cat=build_robot).

build_robot/tutorial.md

@@ -4,7 +4,7 @@ The tutorial demonstrates Gazebo's basic model management, and exercises familia
 
 ## Setup your model directory ##
 
-Read through the [Model Database documentation](http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot). You will be creating your own model, which must follow the formatting rules for the Gazebo Model Database directory structure.  Also, for details on model description formats, please refer to the [SDF reference](http://gazebosim.org/sdf).
+Read through the [Model Database documentation](/tutorials?tut=model_structure&cat=build_robot). You will be creating your own model, which must follow the formatting rules for the Gazebo Model Database directory structure.  Also, for details on model description formats, please refer to the [SDF reference](http://gazebosim.org/sdf).
 
 1.  Create a model directory:
 
@@ -110,7 +110,7 @@ It is important to start simple, and build up a model in steps. The first step i
     Here we have created a `box` with a size of `0.4 x 0.2 x 0.1` meters. The `collision` element specifies the shape used by the collision detection engine. The `visual` element specifies the shape used by the rendering engine. For most use cases the `collision` and `visual` elements are the same. The most common use for different `collision` and `visual` elements is to have a simplified `collision` element paired with a `visual` element that uses a complex mesh. This will help improve performance.
 
 1.  Try out your model by running gazebo, and importing your model through the
-    [Insert Model](http://gazebosim.org/tutorials?tut=build_world&cat=build_world#AddingModelfromtheModelDatabase)
+    [Insert Model](/tutorials?tut=build_world&cat=build_world#AddingModelfromtheModelDatabase)
     interface on the GUI.
 
         gazebo
@@ -520,4 +520,4 @@ It is important to start simple, and build up a model in steps. The first step i
     Idea: A six wheeled vehicle with a scoop front loading mechanism.
 
 ## Next ##
-[Next: Attach Meshes](http://gazebosim.org/tutorials/?tut=attach_meshes)
+[Next: Attach Meshes](/tutorials/?tut=attach_meshes)

build_world/tutorial.md

@@ -8,7 +8,7 @@ This tutorial describes the process of creating a world with both static and dyn
 
 # Setup
 
-1.  Make sure Gazebo is [installed](http://gazebosim.org/tutorials?cat=install).
+1.  Make sure Gazebo is [installed](/tutorials?cat=install).
 
 1.  Start up gazebo, and you should see a world with just a ground plane.
 
@@ -129,4 +129,4 @@ The filename must be in the current working directory, or you must specify the c
 
 # Next
 
-[Next: Modifying a world tutorial](http://gazebosim.org/tutorials/?tut=modifying_world)
+[Next: Modifying a world tutorial](/tutorials/?tut=modifying_world)

build_world/tutorial_1.9.md

@@ -8,7 +8,7 @@ This tutorial describes the process of creating a world with both static and dyn
 
 # Setup
 
-1.  Make sure Gazebo is [installed](http://gazebosim.org/tutorials?cat=install).
+1.  Make sure Gazebo is [installed](/tutorials?cat=install).
 
 1.  Create a working directory for this tutorial:
 
@@ -110,4 +110,4 @@ The filename must be in the current working directory, or you must specify the c
 
 # Next
 
-[Next: Modifying a world tutorial](http://gazebosim.org/tutorials/?tut=modifying_world)
+[Next: Modifying a world tutorial](/tutorials/?tut=modifying_world)

build_world/tutorial_2.2.md

@@ -8,7 +8,7 @@ This tutorial describes the process of creating a world with both static and dyn
 
 # Setup
 
-1.  Make sure Gazebo is [installed](http://gazebosim.org/tutorials?cat=install).
+1.  Make sure Gazebo is [installed](/tutorials?cat=install).
 
 1.  Start up gazebo, and you should see a world with just a ground plane.
 
@@ -115,4 +115,4 @@ The filename must be in the current working directory, or you must specify the c
 
 # Next
 
-[Next: Modifying a world tutorial](http://gazebosim.org/tutorials/?tut=modifying_world)
+[Next: Modifying a world tutorial](/tutorials/?tut=modifying_world)

building_editor/tutorial.md

@@ -4,7 +4,7 @@ This tutorial describes the process of creating a building using the Building Ed
 
 ## Open the Building Editor
 
-1.  Make sure Gazebo is [installed](http://gazebosim.org/tutorials?cat=install).
+1.  Make sure Gazebo is [installed](/tutorials?cat=install).
 
 1.  Start up gazebo.
 
@@ -244,7 +244,7 @@ Colors and textures can be chosen from the Palette and assigned to items on your
 
 # Saving your building
 
-Saving will create a [directory, SDF and config files](http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot) for your building.
+Saving will create a [directory, SDF and config files](/tutorials?tut=model_structure&cat=build_robot) for your building.
 
 Before saving, give your building a name on the Palette.
 

color_model/tutorial_7.md

@@ -159,7 +159,7 @@ See the [model structure tutorial](tutorials?tut=model_structure) for more infor
 
 [[file:files/model_files.png|256px]]
 
-The `models` folder itself must be in the environment variable [`GAZEBO_MODEL_PATH`](http://gazebosim.org/tutorials?tut=components#EnvironmentVariables).
+The `models` folder itself must be in the environment variable [`GAZEBO_MODEL_PATH`](/tutorials?tut=components#EnvironmentVariables).
 This tutorial will assume you use the folder `~/color_tutorial/models`.
 
 ```

components/tutorial.md

@@ -21,7 +21,7 @@ A model file uses the same [SDF](http://gazebosim.org/sdf.html) format as world
 
 A number of models are provided in the [online model database](http://github.com/osrf/gazebo_models) (in previous versions, some example models were shipped with Gazebo).  Assuming that you have an Internet connection when running Gazebo, you can insert any model from the database and the necessary content will be downloaded at runtime.
 
-Read more about model files [here](http://gazebosim.org/tutorials?tut=build_model).
+Read more about model files [here](/tutorials?tut=build_model).
 
 # Environment Variables
 

contact_sensor/tutorial_4-0.md

@@ -129,7 +129,7 @@ Between the `</contact>` and `</sensor>` tags in order to get output on the term
 
 It is also possible to create a plugin for the contact sensor. This plugin can get the collision data, manipulate it, and output it to an arbitrary destination (for example a ROS topic).
 
-*    **Note** This section of the tutorial requires you to compile a Gazebo plugin. For Gazebo version 3.0 and above, you will need to have the Gazebo dev packages installed (something like `libgazebo*-dev`). Check the [installation tutorials](http://gazebosim.org/tutorials?cat=install) for further instructions.
+*    **Note** This section of the tutorial requires you to compile a Gazebo plugin. For Gazebo version 3.0 and above, you will need to have the Gazebo dev packages installed (something like `libgazebo*-dev`). Check the [installation tutorials](/tutorials?cat=install) for further instructions.
 
 Start by modifying the `contact.world` SDF file. Add the following line directly below `<sensor name='my_contact' type='contact'>`:
 

contact_sensor/tutorial_7-0.md

@@ -130,7 +130,7 @@ Between the `</contact>` and `</sensor>` tags in order to get output on the term
 
 It is also possible to create a plugin for the contact sensor. This plugin can get the collision data, manipulate it, and output it to an arbitrary destination (for example a ROS topic).
 
-*    **Note** This section of the tutorial requires you to compile a Gazebo plugin. For Gazebo version 3.0 and above, you will need to have the Gazebo dev packages installed (something like `libgazebo*-dev`). Check the [installation tutorials](http://gazebosim.org/tutorials?cat=install) for further instructions.
+*    **Note** This section of the tutorial requires you to compile a Gazebo plugin. For Gazebo version 3.0 and above, you will need to have the Gazebo dev packages installed (something like `libgazebo*-dev`). Check the [installation tutorials](/tutorials?cat=install) for further instructions.
 
 Start by modifying the `contact.world` SDF file. Add the following line directly below `<sensor name='my_contact' type='contact'>`:
 

drcsim_animate_joints/tutorial.md

@@ -4,7 +4,7 @@ In this tutorial, we'll move a robot in simulation without dynamics through the
 
 # Setup
 
-We assume that you've already done the [installation step](http://gazebosim.org/tutorials/?tut=drcsim_install&cat=drcsim).
+We assume that you've already done the [installation step](/tutorials/?tut=drcsim_install&cat=drcsim).
 
 If you haven't done so, add the environment setup.sh files to your .bashrc.
 

drcsim_atlas_siminterface/tutorial.md

@@ -4,7 +4,7 @@ This tutorial describes how to use the Atlas Sim Interface to command Atlas to w
 
 ## Setup
 
-We assume that you've already done the [DRCSim installation step](http://gazebosim.org/tutorials?tut=drcsim_install).
+We assume that you've already done the [DRCSim installation step](/tutorials?tut=drcsim_install).
 
 If you haven't done so, make sure to source the environment setup.sh files with every new terminal you open:
 

drcsim_bdi_examples/tutorial.md

@@ -1,10 +1,10 @@
 # Overview
 
-This tutorial demonstrates how to start the 5-step behavior demo implemented in the Boston Dynamics Atlas Behavior Library.  Assuming DRCSim 2.7 or above was installed on your system, Atlas simulation behavior library documentations can be found locally, simply point your browser [here](https://bitbucket.org/osrf/drcsim/src/default/drcsim_model_resources/AtlasSimInterface_1.1.1/doc/html/?at=default). See also the [Keyboard teleop walking](http://gazebosim.org/tutorials/?tut=drcsim_keyboard_teleop) tutorial.
+This tutorial demonstrates how to start the 5-step behavior demo implemented in the Boston Dynamics Atlas Behavior Library.  Assuming DRCSim 2.7 or above was installed on your system, Atlas simulation behavior library documentations can be found locally, simply point your browser [here](https://bitbucket.org/osrf/drcsim/src/default/drcsim_model_resources/AtlasSimInterface_1.1.1/doc/html/?at=default). See also the [Keyboard teleop walking](/tutorials/?tut=drcsim_keyboard_teleop) tutorial.
 
 # Install DRC Simulator
 
-[Click to see the instructions](http://gazebosim.org/tutorials/?tut=drcsim_install&cat=drcsim) for installing the DRC simulator and associated utilities. This tutorial requires drcsim-2.7 or later.
+[Click to see the instructions](/tutorials/?tut=drcsim_install&cat=drcsim) for installing the DRC simulator and associated utilities. This tutorial requires drcsim-2.7 or later.
 
 # Launch the DRC Simulator
 

drcsim_create_atlas_world/tutorial.md

@@ -2,7 +2,7 @@
 This tutorial will teach you how to create a Gazebo world and spawn Atlas into it.
 
 ## Setup
-We assume that you've already done the [installation step](http://gazebosim.org/tutorials/?tut=drcsim_install&cat=drcsim).
+We assume that you've already done the [installation step](/tutorials/?tut=drcsim_install&cat=drcsim).
 
 If you haven't done so, add the environment setup.sh files to your .bashrc.
 

drcsim_fakewalking/tutorial.md

@@ -4,7 +4,7 @@ This tutorial will explain how to drive simulated Atlas around as if it were a w
 
 ## Setup
 
-We assume that you've already done the [installation step](http://gazebosim.org/tutorials/?tut=drcsim_install).
+We assume that you've already done the [installation step](/tutorials/?tut=drcsim_install).
 
 If you haven't done so, add the environment setup.sh files to your .bashrc.
 
@@ -15,7 +15,7 @@ source ~/.bashrc
 
 ## Background
 
-Note that this tutorial does not use the [walking controller](http://gazebosim.org/tutorials/?tut=drcsim_walking&cat=drcsim). It simply spawns Atlas with position controllers enabled that keep it standing upright, as shown in the following image:
+Note that this tutorial does not use the [walking controller](/tutorials/?tut=drcsim_walking&cat=drcsim). It simply spawns Atlas with position controllers enabled that keep it standing upright, as shown in the following image:
 
 [[file:files/Gazebo_with_drc_robot.png|640px]]
 

drcsim_grasp_sandia/tutorial.md

@@ -4,7 +4,7 @@ In this tutorial, we'll send desired grasp pose to Sandia hands mounted on an At
 
 # Setup
 
-We assume that you've already done the [installation step](http://gazebosim.org/tutorials/?tut=drcsim_install&cat=drcsim).
+We assume that you've already done the [installation step](/tutorials/?tut=drcsim_install&cat=drcsim).
 
 If you haven't done so, make sure to source the environment setup.sh files with every new terminal you open: