Modified launch files tutorial, added a note to the README.

doc/examples/moveit_cpp/moveitcpp_tutorial.rst

@@ -29,4 +29,50 @@ The entire code can be seen :codedir:`here in the MoveIt GitHub project<examples
 
 The Launch File
 ---------------
-The entire launch file is :codedir:`here<examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py>` on GitHub. All the code in this tutorial can be run from the **moveit2_tutorials** package that you have as part of your MoveIt setup.
+The entire launch file is :codedir:`here<examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py>` on GitHub.
+Notably, the launch file contains the following node
+
+.. code-block:: python
+
+    # MoveItCpp demo executable
+        moveit_cpp_node = Node(
+            name="moveit_cpp_tutorial",
+            package="moveit2_tutorials",
+            executable="moveit_cpp_tutorial",
+            output="screen",
+            parameters=[moveit_config.to_dict()],
+        )
+This node contains parameters which are passed to the executable associated with moveit_cpp_tutorial.
+
+The CMakeLists.txt File
+-----------------------
+During the build process, the CMakeLists.txt file assigns where the launcher will look for the executable.
+Below is the CMakeLists.txt file for this tutorial:
+
+.. code-block:: cmake
+
+  add_executable(moveit_cpp_tutorial src/moveit_cpp_tutorial.cpp)
+  target_include_directories(moveit_cpp_tutorial PUBLIC include)
+  ament_target_dependencies(moveit_cpp_tutorial  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+  install(TARGETS moveit_cpp_tutorial
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  install(DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+  )
+  install(DIRECTORY config
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+``add_executable`` builds the executable named moveit_cpp_tutorial from the source file ``src/moveit_cpp_tutorial.cpp``.
+
+``target_include_directories`` specifies the directories to search for header files during compilation.
+``PUBLIC`` makes the include directory available to targets that depend on ``moveit_cpp_tutorial``.
+
+``ament_target_dependencies`` specifies dependencies for the moveit_cpp_tutorial executable.
+``${THIS_PACKAGE_INCLUDE_DEPENDS}`` is a variable defined in the  ``moveit2_tutorials`` root directory's CMakeLists.txt file, which list common dependencies used in moveit2_tutorials.
+
+``install(TARGET ...)`` and ``install(DIRECTORY ...)`` specify where to put the built executable and directories needed to run your program.
+
+For more details about custom executables, please browse the other examples on this site as well as the ROS documentation.

doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.rst

@@ -167,21 +167,68 @@ or you can include selected sub-components as follows:
 
 Note that the above syntax will automatically look for configuration files that match the default file naming patterns described in this document.
 If you have a different naming convention, you can use the functions available in ``MoveItConfigsBuilder`` to directly set file names.
-For example, to use a non-default robot description and IK solver file path, and configure planning pipelines:
+Using the launch file from :doc:`/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial` as an example:
 
 .. code-block:: python
 
     from moveit_configs_utils import MoveItConfigsBuilder
 
+    # Define xacro mappings for the robot description file
+    launch_arguments = {
+        "robot_ip": "xxx.yyy.zzz.www",
+        "use_fake_hardware": "true",
+        "gripper": "robotiq_2f_85",
+        "dof": "7",
+    }
+
+    # Load the robot configuration
     moveit_config = (
-        MoveItConfigsBuilder("my_robot")
-        .robot_description(file_path="config/my_robot.urdf.xacro")
-        .robot_description_kinematics(file_path="config/my_kinematics_solver.yaml")
+        MoveItConfigsBuilder(
+            "gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config"
+        )
+        .robot_description(mappings=launch_arguments)
+        .trajectory_execution(file_path="config/moveit_controllers.yaml")
+        .planning_scene_monitor(
+            publish_robot_description=True, publish_robot_description_semantic=True
+        )
         .planning_pipelines(
-            pipelines=["ompl", "pilz_industrial_motion_planner"],
-            default_planning_pipeline="pilz_industrial_motion_planner",
+            pipelines=["ompl", "stomp", "pilz_industrial_motion_planner"]
         )
         .to_moveit_configs()
     )
 
+
+``MoveItConfigsBuilder`` (`defined here <https://github.com/moveit/moveit2/blob/main/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py>`_) can take a few different types of arguments.
+
+* ``MoveItConfigsBuilder(package_name="package_name")``  will search for a package named "package_name".
+* ``MoveItConfigsBuilder("robot_name")`` will search for an explicitly given package name.
+Both arguments can be given, in which case the robot name is stored and the package with the explicitly given name will be loaded.
+As seen above, ``gen3`` is the robot name, and MoveIt looks for the package ``kinova_gen3_7dof_robotiq_2f_85_moveit_config`` instead of ``gen3_moveit_config``.
+
+``.robot_description`` can optionally take a file path to ``robot_name.urdf`` and/or assign a dictionary of argument mappings that are passed to the robot's urdf.xacro file.
+The file path to ``robot_name.urdf`` must be relative to your robot package, so if your robot package is ``/robot_package`` and the urdf (or urdf xacro) file is ``robot_package/config/robot_name.urdf``
+you would pass ``.robot_description(filepath="config/robot_name.urdf")``.
+If you don't provide a file path, but you do give ``MoveItConfigsBuilder`` a robot name (see above paragraph), MoveIt will look for ``robot_package/config/robot_name.urdf``.
+
+``.trajectory_execution`` loads trajectory execution and MoveIt controller manager's parameters from an optionally provided file path.
+If a file path isn't given, MoveIt looks for files in the package's ``config`` folder for files ending with ``controllers.yaml``.
+
+``.planning_scene_monitor`` allows you to set various parameters about what scene information is published and how often is it published.
+
+``.planning_pipelines`` allows to you to list the names of the planners you want available to be used by your robot.
+If you opt to not list pipelines, as in ``.planning_pipelines()``, MoveIt will look in the config folder of your package for files that end with "_planning.yaml".
+Additionally, if no pipelines are listed, MoveIt will load a set of planners from its own library - this can be disabled adding ``load_all=False`` as an argument to ``.planning_pipelines``.
+Listing the planner names specifiies which planners MoveIt should load; again these should be in your config folder.
+MoveIt will also pick one of your planners to be the default planner.
+If OMPL is one of your planners, it will be the default planner unless you set ``default_planning_pipeline`` to your desired default planner as in
+
+.. code-block:: python
+
+    .planning_pipelines(
+            pipelines=["ompl", "your_favorite_planner"],
+            default_planning_pipeline="your_favorite_planner",
+        )
+
+If OMPL is not in your planner list and you don't set a default planner, MoveIt will pick the first planner in the list.
+
 Now that you have read this page, you should be able to better understand the launch files available throughout the MoveIt 2 tutorials, and when encountering other MoveIt configuration packages in the wild.

doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.rst

@@ -47,7 +47,7 @@ A handy way to refer to a MoveIt configuration package is to use the ``MoveItCon
 Launching Move Group
 --------------------
 
-Once all the MoveIt configuration parameters have been loaded, you can launch the :ref:`Move Group Interface` using the entire set of loaded MoveIt parameters.
+Once all the MoveIt configuration parameters have been loaded, you can define the :ref:`Move Group Interface` Node using the entire set of loaded MoveIt parameters.
 
 .. code-block:: python
 
@@ -187,6 +187,7 @@ In our example, we have:
         arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
     )
 
+
 Launching all the nodes
 -----------------------
 
@@ -213,3 +214,8 @@ Finally, we can tell our launch file to actually launch everything we described
                 hand_controller_spawner,
             ]
         )
+
+Launching a custom executable
+----------------------------
+
+Later on these tutorials (:doc:`/doc/examples/moveit_cpp/moveit_cpp_tutorial`), you will learn how to create and launch a custom executable.