Spelling (moveit#44)

* github -> GitHub

* Rviz -> RViz, and rviz -> RViz

* moveit -> MoveIt!

* spelling fixes across repo

* cartesian -> Cartesian

* misc spelling fixes

README.md

@@ -1,6 +1,6 @@
 # MoveIt! Tutorials
 
-This repo is automatically built by the ROS build farm and its output is hosted here: http://docs.ros.org/kinetic/api/moveit_tutorials/html/
+This repository is automatically built by the ROS build farm and its output is hosted here: http://docs.ros.org/kinetic/api/moveit_tutorials/html/
 
 The tutorials use the [reStructuredText](http://www.sphinx-doc.org/en/stable/rest.html) format commonly used in the Sphinx "Python Documentation Generator". This unfortunately differs from the common Markdown format.
 

doc/benchmarking/benchmarking_tutorial.rst

@@ -3,7 +3,7 @@ Benchmarking
 
 .. note:: This is the new benchmarking method only available in ROS Kinetic, onward.
 
-.. note:: To use this benchmarking method, you will need to download and install the ROS Warehouse plugin. Currently this is not available from debians and requires a source install for at least some aspects. For source instructions, see `this page <http://moveit.ros.org/install/source/dependencies/>`_
+.. note:: To use this benchmarking method, you will need to download and install the ROS Warehouse plugin. Currently this is not available from Debians and requires a source install for at least some aspects. For source instructions, see `this page <http://moveit.ros.org/install/source/dependencies/>`_
 
 The `benchmarking package <https://github.com/ros-planning/moveit/tree/kinetic-devel/moveit_ros/benchmarks>`_ provides methods to benchmark motion planning algorithms and aggregate/plot statistics using the OMPL Planner Arena.
 The example below demonstrates how the benchmarking can be run for a Fanuc M-10iA.
@@ -38,7 +38,7 @@ To run:
 Viewing Results
 ---------------
 
-The benchmarks are executed and many interesting parameters are aggregated and written to a logfile.  A script (``moveit_benchmark_statistics.py``) is supplied to parse this data and plot the statistics.
+The benchmarks are executed and many interesting parameters are aggregated and written to a log file.  A script (``moveit_benchmark_statistics.py``) is supplied to parse this data and plot the statistics.
 
 Run: ::
 

doc/chomp_interface/chomp_interface_tutorial.rst

@@ -15,17 +15,17 @@ Once you have this package simply run::
 Assumptions:
 ------------
 
- 1. You have the latest version of moveit installed. On ROS kinetic you may need to build it from source.
- 2. You have a moveit configuration package for your robot already. For example, if you have a Kinova Jaco arm, it's probably called "jaco_moveit_config". This is typically built using the Moveit Setup Assistant.
- 3. Lets assume that you are using the **jaco** manipulator. And hence, the moveit config package is *jaco_moveit_config*.
+ 1. You have the latest version of MoveIt! installed. On ROS kinetic you may need to build it from source.
+ 2. You have a MoveIt! configuration package for your robot already. For example, if you have a Kinova Jaco arm, it's probably called "jaco_moveit_config". This is typically built using the MoveIt! Setup Assistant.
+ 3. Lets assume that you are using the **Jaco** manipulator. And hence, the MoveIt! config package is *jaco_moveit_config*.
 
 
 Using CHOMP with your own robot
 -------------------------------
 
-1. Simply download `chomp_planning_pipeline.launch.xml <https://github.com/ros-planning/moveit_resources/blob/master/fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml>`_ file into the launch directory of your moveit config package. So into the *jaco_moveit_config/launch* directory.
+1. Simply download `chomp_planning_pipeline.launch.xml <https://github.com/ros-planning/moveit_resources/blob/master/fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml>`_ file into the launch directory of your MoveIt! config package. So into the *jaco_moveit_config/launch* directory.
 2. Adjust the line <rosparam command="load" file="$(find moveit_resources)/fanuc_moveit_config/config/chomp_planning.yaml" /> to <rosparam command="load" file="$(find jaco_moveit_config)/config/chomp_planning.yaml" />
-3. Download `chomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/master/fanuc_moveit_config/config/chomp_planning.yaml>`_ file into the config directory of your moveit config package. So into the *jaco_moveit_config/config* directory.
+3. Download `chomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/master/fanuc_moveit_config/config/chomp_planning.yaml>`_ file into the config directory of your MoveIt! config package. So into the *jaco_moveit_config/config* directory.
 4. Copy the *demo.launch* file to *demo_chomp.launch*. Note that this file is also in the launch directory of the *jaco_moveit_config* package.
 5. Find the lines where *move_group.launch* is included and change it to: ::
 

doc/collision_contact/collision_contact_tutorial.rst

@@ -1,6 +1,6 @@
 Collision Contact
 =================
-This section walks you through C++ code which allows you to see collision contact points between the robot, itself, and the world as you move and interact with the robot’s arm in Rviz.
+This section walks you through C++ code which allows you to see collision contact points between the robot, itself, and the world as you move and interact with the robot’s arm in RViz.
 
 Getting Started
 ---------------
@@ -28,14 +28,14 @@ The :code:`InteractiveRobot` class uses the :code:`IMarker` class which maintain
 
 Interacting
 -----------
-In Rviz you will see two sets of Red/Green/Blue interactive marker arrows. Drag these around with the mouse.
+In RViz you will see two sets of Red/Green/Blue interactive marker arrows. Drag these around with the mouse.
 Move the right arm so it is in contact with the left arm. You will see magenta spheres marking the contact points.
 If you do not see the magenta spheres be sure that you added the MarkerArray display with interactive_robot_marray topic as described above. Also be sure to set RobotAlpha to 0.3 (or some other value less than 1) so the robot is transparent and the spheres can be seen.
 Move the right arm so it is in contact with the yellow cube (you may also move the yellow cube). You will see magenta spheres marking the contact points.
 
 Relevant Code
 -------------
-The entire code can be seen :codedir:`here <collision_contact>` in the moveit_tutorials Github project. Libraries used can be found :codedir:`here <interactivity>`. A lot of information necessary for understanding how this demo works is left out to keep this tutorial focused on collision contacts. To understand this demo fully, it is highly recommended that you read through the source code.
+The entire code can be seen :codedir:`here <collision_contact>` in the moveit_tutorials GitHub project. Libraries used can be found :codedir:`here <interactivity>`. A lot of information necessary for understanding how this demo works is left out to keep this tutorial focused on collision contacts. To understand this demo fully, it is highly recommended that you read through the source code.
 
 .. tutorial-formatter:: ./src/collision_contact_tutorial.cpp
 

doc/collision_contact/launch/collision_contact_tutorial.launch

@@ -6,7 +6,7 @@
   <!-- load SRDF -->
   <param name="robot_description_semantic" textfile="$(find panda_moveit_config)/config/panda.srdf" />
 
-  <!-- Run Rviz with a custom config -->
+  <!-- Run RViz with a custom config -->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
 	args="-d $(find moveit_tutorials)/doc/collision_contact/launch/moveit.rviz" output="screen">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>

doc/custom_constraint_samplers/custom_constraint_samplers_tutorial.rst

@@ -6,7 +6,7 @@ Overview
 
 Some planning problems require more complex or custom constraint
 samplers for more difficult planning problems. This document explains
-how to creat a custom motion planning constraint sampler for use
+how to create a custom motion planning constraint sampler for use
 with MoveIt!.
 
 Pre-requisites
@@ -15,7 +15,7 @@ Pre-requisites
 Creating a constraint sampler
 -----------------------------
 
-* Create a ROBOT_moveit_plugins package and within that a subfolder for your YOURROBOT_constraint_sampler plugin.
+* Create a ROBOT_moveit_plugins package and within that a sub-folder for your YOURROBOT_constraint_sampler plugin.
   Modify the template provided by hrp2jsk_moveit_plugins/hrp2jsk_moveit_constraint_sampler_plugin
 * In your ROBOT_moveit_config/launch/move_group.launch file, within the <node name="move_group">, add
   the parameter:

doc/fake_controller_manager/fake_controller_manager_tutorial.rst

@@ -2,14 +2,14 @@ Fake Controller Manager
 =================================
 
 MoveIt! comes with a series of fake trajectory controllers to be used in simulation.
-For example, the ``demo.launch`` generated by MoveIt's setup assistant, employs fake controllers for nice visualization in rviz.
+For example, the ``demo.launch`` generated by MoveIt's setup assistant, employs fake controllers for nice visualization in RViz.
 
 For configuration, edit the file ``config/fake_controllers.yaml``, and adjust the desired controller type.
 The following controllers are available:
 
 * **interpolate**: perform smooth interpolation between via points - the default for visualization
 * **via points**:  traverse via points, w/o interpolation in between - useful for visual debugging
-* **last point**:  warp directly to the last point of the trajectory - fastest method for offline benchmarking
+* **last point**:  warp directly to the last point of the trajectory - fastest method for off-line benchmarking
 
 YAML file examples
 ------------------

doc/ikfast/ikfast_tutorial.rst

@@ -12,7 +12,7 @@ MoveIt! IKFast
 ---------------
 
 MoveIt! IKFast is a tool that generates a IKFast kinematics plugin for MoveIt using OpenRAVE generated cpp files.
-This tutorial will step you through setting up your robot to utilize the power of IKFast. MoveIt! IKFast is tested on ROS Kinetic with Catkin using OpenRAVE 0.8 with a 6dof and 7dof robot arm manipulator.
+This tutorial will step you through setting up your robot to utilize the power of IKFast. MoveIt! IKFast is tested on ROS Kinetic with Catkin using OpenRAVE 0.8 with a 6DOF and 7DOF robot arm manipulator.
 While it works in theory, currently the IKFast plugin generator tool does not work with >7 degree of freedom arms.
 
 Getting Started
@@ -21,7 +21,7 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 
 You should have MoveIt! configuration package for your robot that was created by using the `Setup Assistant <../setup_assistant/setup_assistant_tutorial.html>`_
 
-Installing OpenRAVE on Ubuntu 16.04 is tricky. Here are 2 blog posts that give slightly different recepies for installing OpenRAVE.
+Installing OpenRAVE on Ubuntu 16.04 is tricky. Here are 2 blog posts that give slightly different recipes for installing OpenRAVE.
 
  * `Stéphane Caron's Installing OpenRAVE on Ubuntu 16.04 <https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html>`_
  * `Francisco Suárez-Ruiz's Robotics Workstation Setup in Ubuntu 16.04 <https://fsuarez6.github.io/blog/workstation-setup-xenial>`_
@@ -30,7 +30,7 @@ Make sure you have these programs installed: ::
 
  sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy qt4-dev-tools
 
-You may also need the followng libraries: ::
+You may also need the following libraries: ::
 
  sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev
 
@@ -87,7 +87,7 @@ Note: you have to set: ::
 
 Working commit numbers 5cfc7444... confirmed for Ubuntu 14.04 and 9c79ea26... confirmed for Ubuntu 16.04, according to Stéphane Caron.
 
-**Please report your results with this on** `this Github repo. <https://github.com/ros-planning/moveit_tutorials>`_
+**Please report your results with this on** `this GitHub repository. <https://github.com/ros-planning/moveit_tutorials>`_
 
 
 Create Collada File For Use With OpenRAVE
@@ -117,13 +117,13 @@ Once you have your robot in URDF format, you can convert it to Collada (.dae) fi
 
  rosrun collada_urdf urdf_to_collada "$MYROBOT_NAME".urdf "$MYROBOT_NAME".dae
 
-Often floating point issues arrise in converting a URDF file to Collada file, so a script has been created to round all the numbers down to x decimal places in your .dae file. Its probably best if you skip this step initially and see if IKFast can generate a solution with your default values, but if the generator takes longer than, say, an hour, try the following: ::
+Often floating point issues arise in converting a URDF file to Collada file, so a script has been created to round all the numbers down to x decimal places in your .dae file. Its probably best if you skip this step initially and see if IKFast can generate a solution with your default values, but if the generator takes longer than, say, an hour, try the following: ::
 
     export IKFAST_PRECISION="5"
-    cp "$MYROBOT_NAME".dae "$MYROBOT_NAME".bakup.dae  # create a backup of your full precision dae.
+    cp "$MYROBOT_NAME".dae "$MYROBOT_NAME".backup.dae  # create a backup of your full precision dae.
     rosrun moveit_kinematics round_collada_numbers.py "$MYROBOT_NAME".dae "$MYROBOT_NAME".dae "$IKFAST_PRECISION"
 
-From experience we recommend 5 decimal places, but if the OpenRAVE ikfast generator takes to long to find a solution, lowering the number of decimal places should help.
+From experience we recommend 5 decimal places, but if the OpenRAVE IKFast generator takes to long to find a solution, lowering the number of decimal places should help.
 
 To see the links in your newly generated Collada file
 
@@ -190,18 +190,18 @@ Set the base link and EEF link to the desired index::
  export BASE_LINK="0"
  export EEF_LINK="8"
 
-If you have a 7 DOF arm you will need ot specify a free link::
+If you have a 7 DOF arm you will need to specify a free link::
 
  export FREE_INDEX="1"
 
 Generate IK Solver
 ^^^^^^^^^^^^^^^^^^
 
-To generate the IK solution between the manipulator's base and tool frames for a 6 dof arm, use the following command format. We recommend you name the output ikfast61\_"$PLANNING_GROUP".cpp: ::
+To generate the IK solution between the manipulator's base and tool frames for a 6DOF arm, use the following command format. We recommend you name the output ikfast61\_"$PLANNING_GROUP".cpp: ::
 
  export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp
 
-For a 6 dof arm: ::
+For a 6DOF arm: ::
 
  python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH"
 
@@ -254,7 +254,7 @@ Edit these parts: ::
 Test the Plugin
 ^^^^^^^^^^^^^^^
 
-Use the MoveIt Rviz Motion Planning Plugin and use the interactive markers to see if correct IK Solutions are found.
+Use the MoveIt RViz Motion Planning Plugin and use the interactive markers to see if correct IK Solutions are found.
 
 Updating the Plugin
 -------------------

doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.rst

@@ -8,13 +8,13 @@ If you haven't already done so, make sure you've completed the steps in `Getting
 Run
 ---
 
-Startup regular MoveIt! planning node with Rviz (for example demo.launch)
+Startup regular MoveIt! planning node with RViz (for example demo.launch)
 
 Make sure you have the dependencies installed: ::
 
     sudo apt-get install ros-kinetic-joy
 
-In the Motion Planning plugin of Rviz, enable "Allow External Comm." checkbox in the "Planning" tab. Enable the 'Query Goal State' robot display in the MoveIt! Motion Planning Plugins's 'Planning Request' section.
+In the Motion Planning plugin of RViz, enable "Allow External Comm." checkbox in the "Planning" tab. Enable the 'Query Goal State' robot display in the MoveIt! Motion Planning Plugins' 'Planning Request' section.
 
 Now launch the joystick control launch file specific to your robot. If you are missing this file, first re-run the MoveIt! Setup Assistant using the latest version of the Setup Assistant: ::
 
@@ -51,6 +51,6 @@ execute                 circle               B                     2
 Debugging
 ---------
 
-Add "Pose" to rviz Displays and subscribe to ``/joy_pose`` in order to see the output from joystick.
+Add "Pose" to RViz Displays and subscribe to ``/joy_pose`` in order to see the output from joystick.
 
 Note that only planning groups that have IK solvers for all their End Effector parent groups will work.

doc/kinematic_model/kinematic_model_tutorial.rst

@@ -12,7 +12,7 @@ The :moveit_core:`RobotModel` and :moveit_core:`RobotState` classes are the core
 
 The :moveit_core:`RobotModel` class contains the relationships between all links and joints including their joint limit properties as loaded from the URDF. The RobotModel also separates the robot's links and joints into planning groups defined in the SRDF. A separate tutorial on the URDF and SRDF can be found here: `URDF and SRDF Tutorial <../urdf_srdf/urdf_srdf_tutorial.html>`_
 
-The :moveit_core:`RobotState` contains information about the robot at a snapshot in time, storing vectors of joint positions and optionally velocities and accelerations that can be used to obtain kinmatic information about the robot that depends on it's current state such as the Jacobian of an end effector.
+The :moveit_core:`RobotState` contains information about the robot at a snapshot in time, storing vectors of joint positions and optionally velocities and accelerations that can be used to obtain kinematic information about the robot that depends on it's current state such as the Jacobian of an end effector.
 
 RobotState also contains helper functions for setting the arm location based on the end effector location (Cartesian pose) and for computing Cartesian trajectories.
 
@@ -81,14 +81,14 @@ The expected output will be in the following form. The numbers will not match si
 
 The Entire Code
 ---------------
-The entire code can be seen :codedir:`here in the MoveIt! Github project<kinematic_model>`.
+The entire code can be seen :codedir:`here in the MoveIt! GitHub project<kinematic_model>`.
 
 .. tutorial-formatter:: ./src/kinematic_model_tutorial.cpp
 
 The Launch File
 ^^^^^^^^^^^^^^^
 To run the code, you will need a launch file that does two things:
- * Loads the Panda URDF and SRDF onto the param server, and
+ * Loads the Panda URDF and SRDF onto the parameter server, and
  * Puts the kinematics_solver configuration generated by the MoveIt! Setup Assistant onto the ROS parameter server in the namespace of the node that instantiates the classes in this tutorial.
 
 .. literalinclude:: ./launch/kinematic_model_tutorial.launch

doc/kinematics_configuration/kinematics_configuration_tutorial.rst

@@ -6,7 +6,7 @@ In this section, we will examine some of the parameters for configuring kinemati
 The kinematics.yaml file
 ------------------------
 
-The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the `panda_moveit_config Github project <https://github.com/PickNikRobotics/panda_moveit_config/blob/master/config/kinematics.yaml>`_: ::
+The kinematics.yaml file generated by the MoveIt! Setup Assistant is the primary configuration file for kinematics for MoveIt!. You can see an entire example file for the Panda robot in the `panda_moveit_config GitHub project <https://github.com/PickNikRobotics/panda_moveit_config/blob/master/config/kinematics.yaml>`_: ::
 
  panda_arm:
    kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin