diff --git a/my_robot_cell/doc/assemble_urdf.rst b/my_robot_cell/doc/assemble_urdf.rst index 5bb33a7..1ea58e0 100644 --- a/my_robot_cell/doc/assemble_urdf.rst +++ b/my_robot_cell/doc/assemble_urdf.rst @@ -2,7 +2,10 @@ Assembling the URDF =================== The `ur_description `_ package provides `macro files `_ to generate an instance of a Universal Robots arm. -We'll use this to create a custom workcell with a ur20 inside: +We'll use this to create a custom workcell with a ur20 inside. In this section we will only go into +detail about the URDF / xacro files, not the complete package structure. Please see the +`description package source code +`_ for all other files assembling the description package. Workcell description -------------------- diff --git a/my_robot_cell/doc/build_moveit_config.rst b/my_robot_cell/doc/build_moveit_config.rst index b47e5d7..13a336d 100644 --- a/my_robot_cell/doc/build_moveit_config.rst +++ b/my_robot_cell/doc/build_moveit_config.rst @@ -6,7 +6,7 @@ At this point, you should be able to run the ``ur_robot_driver`` for your custom Now, we are only one last step away from actually planning and executing trajectories. To utilize MoveIt! 2 for this purpose, which will handle trajectory planning for us, we need to set up a MoveIt! configuration package. -To create such a **MoveIt! configuration package**, MoveIt! provides a very useful Setup Assistant. +To create such a MoveIt! `configuration package `_, MoveIt! provides a very useful Setup Assistant. Setup Assistant --------------- diff --git a/my_robot_cell/doc/index.rst b/my_robot_cell/doc/index.rst index a115a56..8e9dbc3 100644 --- a/my_robot_cell/doc/index.rst +++ b/my_robot_cell/doc/index.rst @@ -4,8 +4,12 @@ Custom workcell ================ -Example about integrating an UR arm into a custom workspace. -We will build a custom workcell description, start the driver and create a MoveIt config to enable trajectory plannin with MoveIt. +Example about integrating an UR arm into a custom workspace. We will build a custom workcell +description, start the driver and create a MoveIt config to enable trajectory planning with MoveIt. + +Please see the `package source code +`_ for +all files relevant for this example. .. toctree:: :maxdepth: 4 diff --git a/my_robot_cell/doc/start_ur_driver.rst b/my_robot_cell/doc/start_ur_driver.rst index bf8186f..1e24ede 100644 --- a/my_robot_cell/doc/start_ur_driver.rst +++ b/my_robot_cell/doc/start_ur_driver.rst @@ -6,7 +6,7 @@ In the last chapter we created a custom scene description containing our robot. that description usable to ``ros2_control`` and hence the ``ur_robot_driver``, we need to add control information. We will also add a custom launchfile to startup our demonstrator. -We will generate a new package called ``my_robot_cell_control`` for that purpose. +We will generate a new package called `my_robot_cell_control `_ for that purpose. Create a description with ros2_control tag