Merge branch 'moveit:main' into main

Author: mosfet80

doc/how_to_guides/isaac_panda/isaac_panda_tutorial.rst

@@ -2,8 +2,8 @@ How To Command Simulated Isaac Robot
 ====================================
 
 This tutorial requires a machine with ``Isaac Sim 4.5`` (recommended) or ``Isaac Sim 4.2`` installed.
-For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>`_.
-To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#running-native-ros>`_.
+For Isaac Sim requirements and installation please see the `Omniverse documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/index.html>`_.
+To configure Isaac Sim to work with ROS 2 please see `this guide <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html#running-native-ros>`_.
 
 This tutorial has the following assumptions on system configuration:
 
@@ -57,19 +57,19 @@ updated to load the ``TopicBasedSystem`` plugin when the flag ``ros2_control_har
     </xacro:if>
 
 In this tutorial we have included a Python script that loads a Panda robot
-and builds an `OmniGraph <https://docs.omniverse.nvidia.com/isaacsim/latest/gui_tutorials/tutorial_gui_omnigraph.html>`_
+and builds an `OmniGraph <https://docs.omniverse.nvidia.com/extensions/latest/ext_omnigraph/tutorials/gentle_intro.html>`_
 to publish and subscribe to the ROS topics used to control the robot.
 The OmniGraph also contains nodes to publish RGB and Depth images from the camera mounted on the hand of the Panda.
 The RGB image is published to the topic ``/rgb``, the camera info to ``/camera_info``, and the depth image to ``/depth``.
 The frame ID of the camera frame is ``/sim_camera``.
 To learn about configuring your Isaac Sim robot to communicate with ROS 2 please see the
-`Joint Control tutorial <https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
+`Joint Control tutorial <https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html>`_
 on Omniverse.
 
 Computer Setup
 --------------
 
-1. Install `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`_.
+1. Install `Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html>`_.
 
 2. Perform a shallow clone of the MoveIt 2 Tutorials repo.
 

doc/how_to_guides/trac_ik/trac_ik_tutorial.rst

@@ -12,17 +12,18 @@ From their documentation:
   By default, the IK search returns immediately when either of these algorithms converges to an answer.
   Secondary constraints of distance and manipulability are also provided in order to receive back the "best" IK solution.
 
-The package `trac_ik_kinematics_plugin <https://bitbucket.org/traclabs/trac_ik/src/rolling-devel/trac_ik_kinematics_plugin/>`_ provides a ``KinematicsBase`` MoveIt interface that can replace the default KDL solver.
+The package `trac_ik_kinematics_plugin <https://bitbucket.org/traclabs/trac_ik/src/rolling/trac_ik_kinematics_plugin/>`_ provides a ``KinematicsBase`` MoveIt interface that can replace the default KDL solver.
 Currently, mimic joints are *not* supported.
 
 Install
 -------
 
-The ``rolling-devel`` branch of the TRAC-IK repository has the latest ROS 2 implementation.
-For now, the repository must be built from source in your ROS 2 workspace, for example ``~/moveit2_ws``. ::
+The ``rolling`` branch of the TRAC-IK repository has the latest ROS 2 implementation, but it is also available as binaries.
+
+If you instead want to build from source, go to your ROS 2 workspace, for example ``~/moveit2_ws``. ::
 
   cd ~/moveit2_ws/src
-  git clone -b rolling-devel https://bitbucket.org/traclabs/trac_ik.git
+  git clone -b rolling https://bitbucket.org/traclabs/trac_ik.git
 
 Usage
 -----
@@ -38,7 +39,7 @@ Usage
   - **kinematics\_solver\_attempts** parameter is unneeded: unlike KDL, TRAC-IK solver already restarts when it gets stuck.
   - **kinematics\_solver\_search\_resolution** is not applicable here.
 
-From the `trac_ik_lib <https://bitbucket.org/traclabs/trac_ik/src/rolling-devel/trac_ik_lib/>`_ package documentation (slightly modified), here is some information about the solve type parameter:
+From the `trac_ik_lib <https://bitbucket.org/traclabs/trac_ik/src/rolling/trac_ik_lib/>`_ package documentation (slightly modified), here is some information about the solve type parameter:
 
   - ``Speed``: returns very quickly the first solution found.
   - ``Distance``: runs for the full timeout, then returns the solution that minimizes sum of squares error (SSE) from the seed.