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‎.docker/docker-compose.yml

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services:
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cpu:
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image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
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image: ghcr.io/moveit/moveit2_tutorials:$DOCKER_IMAGE
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container_name: moveit2_container
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privileged: true
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network_mode: host
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QT_X11_NO_MITSHM: 1
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DISPLAY: $DISPLAY
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gpu:
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image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
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image: ghcr.io/moveit/moveit2_tutorials:$DOCKER_IMAGE
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container_name: moveit2_container
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privileged: true
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network_mode: host

‎.github/PULL_REQUEST_TEMPLATE.md

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### Checklist
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- [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
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- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit2/pulls) to support the maintainers
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- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers
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[//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

‎.github/upstream.repos

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repositories:
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moveit_task_constructor:
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type: git
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url: https://github.com/ros-planning/moveit_task_constructor.git
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url: https://github.com/moveit/moveit_task_constructor.git
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version: ros2
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moveit_visual_tools:
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type: git
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url: https://github.com/ros-planning/moveit_visual_tools
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url: https://github.com/moveit/moveit_visual_tools
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version: ros2
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rosparam_shortcuts:
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type: git

‎.github/workflows/deploy.yml

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with:
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fetch-depth: 0
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- uses: actions/setup-python@v4
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- uses: actions/setup-python@v5
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with:
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python-version: '3.10'
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cache: 'pip'
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- name: Upload pages artifact
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uses: actions/upload-pages-artifact@v3
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if: github.repository_owner == 'ros-planning'
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if: github.repository_owner == 'moveit'
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with:
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path: build/html
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deploy:
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if: github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/main'
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if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/main'
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runs-on: ubuntu-latest
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needs: collate_site_artifacts
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environment:

‎.github/workflows/docker-images.yml

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username: ${{ github.repository_owner }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Build Tutorial Image
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uses: docker/build-push-action@v5
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uses: docker/build-push-action@v6
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with:
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file: .docker/Dockerfile
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build-args: |

‎.github/workflows/format.yml

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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v4
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- uses: actions/setup-python@v5
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with:
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python-version: '3.10'
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- name: Install clang-format-14

‎Makefile

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@echo Building local with API
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@echo Step 1 of 2: Clone MoveIt 2 and build API using selected distro
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mkdir -p build/html
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cd build/html && if cd moveit2; then git pull; else git clone https://github.com/ros-planning/moveit2 -b $(MOVEIT_BRANCH) --depth 1 && cd moveit2; fi && \
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cd build/html && if cd moveit2; then git pull; else git clone https://github.com/moveit/moveit2 -b $(MOVEIT_BRANCH) --depth 1 && cd moveit2; fi && \
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sed -i "s/HTML_EXTRA_STYLESHEET =.*/HTML_EXTRA_STYLESHEET = ..\/..\/..\/theme.css/g" Doxyfile && DOXYGEN_OUTPUT_DIRECTORY="../api" doxygen && cd .. && rm -rf moveit2
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@echo Step 2 of 2: Building html
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make html
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@echo Step 1 of 3: Ensure build folder exists
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mkdir -p build/html
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@echo Step 2 of 3: generate CPP API Artifacts
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cd build/html && if cd moveit2; then git pull; else git clone https://github.com/ros-planning/moveit2 -b $(BRANCH) --depth 1 && cd moveit2; fi && \
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cd build/html && if cd moveit2; then git pull; else git clone https://github.com/moveit/moveit2 -b $(BRANCH) --depth 1 && cd moveit2; fi && \
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sed -i "s/HTML_EXTRA_STYLESHEET =.*/HTML_EXTRA_STYLESHEET = ..\/..\/..\/theme.css/g" Doxyfile && DOXYGEN_OUTPUT_DIRECTORY="../api" doxygen && cd .. && rm -rf moveit2
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@echo Step 3 of 3: Build Sphinx Artifacts
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make html

‎README.md

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This repository is built and deployed automatically by GitHub Actions:
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- **Rolling** (main): [![CI](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Amain) [![Format](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Amain) [![Deploy](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Amain)
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- **Humble**: [![CI](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Ahumble) [![Format](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Ahumble) [![Deploy](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=humble)](https://github.com/ros-planning/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Ahumble)
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- **Rolling** (main): [![CI](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Amain) [![Format](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Amain) [![Deploy](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=main)](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Amain)
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- **Humble**: [![CI](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/ci.yaml?query=branch%3Ahumble) [![Format](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/format.yml?query=branch%3Ahumble) [![Deploy](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml/badge.svg?branch=humble)](https://github.com/moveit/moveit2_tutorials/actions/workflows/deploy.yml?query=branch%3Ahumble)
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## Contributing
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We strongly encourage you to help improve MoveIt's documentation. Please consider helping improve the tutorials, port old ones from ROS 1, and write new tutorials. We recommend you read the quality standards below as well as the [How to Write a MoveIt Tutorial](https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_write_tutorials.html) page.
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If you find an issue with the tutorials you are not able to fix yourself, please [open an issue on GitHub](https://github.com/ros-planning/moveit2_tutorials/issues/new) or open a PR with proposed changes.
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If you find an issue with the tutorials you are not able to fix yourself, please [open an issue on GitHub](https://github.com/moveit/moveit2_tutorials/issues/new) or open a PR with proposed changes.
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## Helping with Porting Tutorials to ROS 2
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git clone https://github.com/moveit/moveit2_tutorials.git
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rosdep install -r --from-paths . --ignore-src --rosdistro rolling -y
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‎conf.py

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html_context = {
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"display_github": True,
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"github_user": "ros-planning",
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"github_user": "moveit",
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"github_repo": "moveit2_tutorials",
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"github_version": "main/",
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"conf_py_path": "",

‎doc/concepts/moveit_task_constructor/connecting_stages.rst

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-
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- Default is TOTG (Time-Optimal Trajectory Generation). Information about TOTG is available in the :ref:`Time Parameterization tutorial <doc/examples/time_parameterization/time_parameterization_tutorial:Time Parameterization Algorithms>`
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`API doc for Connect <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1Connect.html>`_.
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`API doc for Connect <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1Connect.html>`_.
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‎doc/concepts/moveit_task_constructor/generating_stages.rst

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auto current_state = std::make_unique<moveit::task_constructor::stages::CurrentState>("current_state");
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`API doc for CurrentState <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1CurrentState.html>`_.
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`API doc for FixedState <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1FixedState.html>`_.
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`API doc for FixedState <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1FixedState.html>`_.
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Monitoring Generators
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- Grasp pose
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`API doc for GenerateGraspPose <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GenerateGraspPose.html>`_.
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`API doc for GenerateGraspPose <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GenerateGraspPose.html>`_.
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`API doc for GeneratePlacePose <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GeneratePlacePose.html>`_.
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`API doc for GeneratePlacePose <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1GeneratePlacePose.html>`_.
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GenerateRandomPose

‎doc/concepts/moveit_task_constructor/propagating_stages.rst

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`API doc for ModifyPlanningScene <https://ros-planning.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ModifyPlanningScene.html>`_.
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`API doc for ModifyPlanningScene <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ModifyPlanningScene.html>`_.
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`API doc for MoveRelative <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveRelative.html>`_.
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`API doc for MoveTo <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1MoveTo.html>`_.
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‎doc/concepts/moveit_task_constructor/wrappers.rst

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`API doc for ComputeIK <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1ComputeIK.html>`_.
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`API doc for PredicateFilter <https://moveit.github.io/moveit_task_constructor/_static/classmoveit_1_1task__constructor_1_1stages_1_1PredicateFilter.html>`_.
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‎doc/examples/controller_configuration/controller_configuration_tutorial.rst

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=====================
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MoveIt typically publishes manipulator motion commands to a `JointTrajectoryController <https://github.com/ros-controls/ros2_controllers/tree/master/joint_trajectory_controller>`_. This tutorial assumes MoveGroup is being used to control the robot rather than MoveItCpp or MoveIt Servo. A minimal setup is as follows:
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#. A YAML config file. As best practice, we suggest naming this :code:`moveit_controllers.yaml`. It tells MoveIt which controllers are available, which joints are associated with each, and the MoveIt controller interface type (:code:`FollowJointTrajectory` or :code:`GripperCommand`). `Example controller config file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/moveit_controllers.yaml>`_.
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#. A YAML config file. As best practice, we suggest naming this :code:`moveit_controllers.yaml`. It tells MoveIt which controllers are available, which joints are associated with each, and the MoveIt controller interface type (:code:`FollowJointTrajectory` or :code:`GripperCommand`). `Example controller config file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/config/moveit_controllers.yaml>`_.
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#. A launch file. This launch file must load the :code:`moveit_controllers` yaml file and specify the :code:`moveit_simple_controller_manager/MoveItSimpleControllerManager`. After these yaml files are loaded, they are passed as parameters to the Move Group node. `Example Move Group launch file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
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#. A launch file. This launch file must load the :code:`moveit_controllers` yaml file and specify the :code:`moveit_simple_controller_manager/MoveItSimpleControllerManager`. After these yaml files are loaded, they are passed as parameters to the Move Group node. `Example Move Group launch file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
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#. Launch the corresponding :code:`ros2_control` JointTrajectoryControllers. This is separate from the MoveIt 2 ecosystem. `Example ros2_control launching <https://github.com/ros-controls/ros2_control_demos>`_. Each JointTrajectoryController provides an action interface. Given the yaml file above, MoveIt automatically connects to this action interface.
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#. Note: it is not required to use :code:`ros2_control` for your robot. You could write a proprietary action interface. In practice, 99% of users choose :code:`ros2_control`.
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MoveIt Controller Managers
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--------------------------
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The base class of controller managers is called MoveItControllerManager (MICM). One of the child classes of MICM is known as Ros2ControlManager (R2CM) and it is the best way to interface with ros2_control. The R2CM can parse the joint names in a trajectory command coming from MoveIt and activate the appropriate controllers. For example, it can automatically switch between controlling two manipulators in a single joint group at once to a single manipulator. To use a R2CM, just set :code:`moveit_manage_controllers = true` in the launch file. `Example R2CM launch file <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
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The base class of controller managers is called MoveItControllerManager (MICM). One of the child classes of MICM is known as Ros2ControlManager (R2CM) and it is the best way to interface with ros2_control. The R2CM can parse the joint names in a trajectory command coming from MoveIt and activate the appropriate controllers. For example, it can automatically switch between controlling two manipulators in a single joint group at once to a single manipulator. To use a R2CM, just set :code:`moveit_manage_controllers = true` in the launch file. `Example R2CM launch file <https://github.com/moveit/moveit_resources/blob/ros2/panda_moveit_config/launch/demo.launch.py>`_.
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MoveIt Controller Interfaces
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----------------------------

‎doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.rst

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Hand-Eye Calibration
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====================
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The `MoveIt Calibration <http://www.github.com/ros-planning/moveit_calibration>`_ package provides plugins and a graphical
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The `MoveIt Calibration <http://www.github.com/moveit/moveit_calibration>`_ package provides plugins and a graphical
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-------------------------------------------
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In your workspace ``src`` directory, clone MoveIt Calibration::
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‎doc/examples/ikfast/ikfast_tutorial.rst

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Inside your catkin workspace's ``./src`` directory: ::
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‎doc/examples/jupyter_notebook_prototyping/src/moveit_notebook_tutorial.ipynb

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"* A motion planning example\n",
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"* A teleoperation example\n",
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"\n",
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"If you have suggestions or feedback for this tutorial please post an issue on GitHub (https://github.com/ros-planning/moveit2_tutorials) and tag @peterdavidfagan."
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"If you have suggestions or feedback for this tutorial please post an issue on GitHub (https://github.com/moveit/moveit2_tutorials) and tag @peterdavidfagan."
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]
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},
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{

‎doc/examples/kinematics_configuration/kinematics_configuration_tutorial.rst

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@@ -70,7 +70,7 @@ The cache size can be controlled with an absolute cap (``max_cache_size``) or wi
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- *cached_ik_kinematics_plugin/CachedTRACKinematicsPlugin*: a wrapper for the `TRAC IK solver <https://bitbucket.org/traclabs/trac_ik>`_. This solver is only available if the TRAC IK kinematics plugin is detected at compile time.
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- *cached_ik_kinematics_plugin/CachedUR5KinematicsPlugin*: a wrapper for the analytic IK solver for the UR5 arm (similar solvers exist for the UR3 and UR10). This is only for illustrative purposes; the caching just adds extra overhead to the solver.
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See the `Cached IK README <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/cached_ik_kinematics_plugin/README.md>`_ for more information.
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See the `Cached IK README <https://github.com/moveit/moveit/blob/master/moveit_kinematics/cached_ik_kinematics_plugin/README.md>`_ for more information.
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Position Only IK
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