Fix tutorial

Author: cambel

doc/controller_configuration/src/moveit_controller_manager_example.cpp

@@ -49,9 +49,13 @@ class ExampleControllerHandle : public moveit_controller_manager::MoveItControll
   {
   }
 
-  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/, const ExecutionCompleteCallback& /*cb*/) override
+  bool sendTrajectory(const moveit_msgs::RobotTrajectory& /*t*/, const ExecutionCompleteCallback& cb) override
   {
     // do whatever is needed to actually execute this trajectory
+
+    // then if there is a callback, return the status of the execution. For example, signal success
+    if (cb)
+      cb(moveit_controller_manager::ExecutionStatus::SUCCEEDED);
     return true;
   }
 

doc/simultaneous_trajectory_execution/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_executable(simultaneous_trajectory_execution_tutorial src/simultaneous_trajectory_execution_tutorial.cpp)
-target_link_libraries(simultaneous_trajectory_execution_tutorial ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(simultaneous_trajectory_execution_tutorial ${catkin_LIBRARIES})
 install(TARGETS simultaneous_trajectory_execution_tutorial DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

doc/simultaneous_trajectory_execution/simultaneous-execution-rviz.gif renamed to doc/simultaneous_trajectory_execution/images/simultaneous-execution-rviz.gif

@@ -3,24 +3,23 @@ Simultaneous Trajectory Execution
 
 Introduction
 ------------
-MoveIt now allows simultaneous execution of trajectories, as long as, each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories.
+MoveIt allows simultaneous execution of trajectories, as long as each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories.
 
 
-.. only:: html
+The following GIF shows a simple example of simultaneous execution of trajectories through the **Rviz Motion Planning** plugin.
 
-   .. figure:: simultaneous-execution-rviz.gif
-
-   Simultaneous execution of several trajectories through Rviz plugin.
+.. figure:: images/simultaneous-execution-rviz.gif
 
+This tutorial presents how to use the Simultaneous Trajectory Execution feature through the `Move Group C++ Interface <../move_group_interface/move_group_interface_tutorial.html>`_ but it can be similarly used through the `Move Group Python Interface <../move_group_python_interface/move_group_python_interface_tutorial.html>`_ or `MoveIt Cpp <../moveit_cpp/moveitcpp_tutorial.html>`_.
 
 Getting Started
 ---------------
 If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
 
-Setup
+(Optional) Setup
 ---------------
-The simultaneous trajectory execution feature can be enabled or disabled through the dynamic reconfigure parameter `/move_group/trajectory_execution/enable_simultaneous_execution`.
-Optionally, an extra layer of collision checking, done right before execution of trajectories, can be enabled through the dynamic reconfigure parameter `/move_group/trajectory_execution/enable_collision_checking`.
+The simultaneous execution feature is active by default. However, through the following dynamic reconfigure parameter, it can be disabled, **/move_group/trajectory_execution/enable_simultaneous_execution**.
+Similarly, an extra layer of collision checking, performed right before execution of trajectories has been added to the `TrajectoryExecutionManager`, which can also be disabled through the dynamic reconfigure parameter **/move_group/trajectory_execution/enable_collision_checking**.
 
 Running the code
 ----------------
@@ -34,7 +33,7 @@ In the second shell, run the launch file for this demo: ::
 
 Expected Output
 ---------------
-Though, two independent trajectories for two different joint groups have been planned, both can be simultaneously executed.
+In a robotic environment with two Franka Panda robot arms, two different trajectories are planned, one for each robot arm. Then both trajectory are simultaneously executed.
 
 The entire code
 ---------------

doc/simultaneous_trajectory_execution/simultaneous_trajectory_execution_tutorial.rst

@@ -97,6 +97,7 @@ Miscellaneous
    doc/benchmarking/benchmarking_tutorial
    doc/tests/tests_tutorial
    doc/test_debugging/test_debugging_tutorial
+   doc/simultaneous_trajectory_execution/simultaneous_trajectory_execution_tutorial
 
 Attribution
 -----------