2018-01-02:生成本地的MoveIt!文档

First, we need to git clone the repository:

git clone https://github.com/ros-planning/moveit_tutorials.git

Then we need to install rosdoc_lite:

sudo apt-get install ros-kinetic-rosdoc-lite

And run in the root of the package:

cd ~/Desktop/catkin_ws/src/moveit_tutorials
rosdoc_lite -o build .

Then open moveit_tutorials/build/html/index.html in your web browser.

Finally, the result is:

when I execute rosdoc_lite -o build .
An error occurred:

liuqiang@liuqiang-Ubuntu16:~/Desktop/catkin_ws/src/moveit_tutorials$ rosdoc_lite -o build .
Documenting a catkin package
Documenting moveit_tutorials located here: /home/liuqiang/Desktop/catkin_ws/src/moveit_tutorials
{'sphinx': {'builder': 'sphinx', 'sphinx_root_dir': '.'}}
Catkin package, no need to generate python paths
Sphinx python path is: /opt/ros/kinetic/lib/python2.7/dist-packages
sphinx-building moveit_tutorials [sphinx-build -a -E -b html -D latex_paper_size=letter . /home/liuqiang/Desktop/catkin_ws/src/moveit_tutorials/build/html/.]
  cwd is /home/liuqiang/Desktop/catkin_ws/src/moveit_tutorials

Exception occurred:
  File "/home/liuqiang/anaconda3/lib/python3.6/site-packages/Sphinx-1.5.6-py3.6.egg/sphinx/application.py", line 512, in setup_extension
    mod = __import__(extension, None, None, ['setup'])
  File "/home/liuqiang/Desktop/catkin_ws/src/moveit_tutorials/_scripts/tutorialformatter.py", line 121
    print 'tutorialformatter.py error: sub-tutorial %s not found.' % sub_name
                                                                 ^
SyntaxError: Missing parentheses in call to 'print'
The full traceback has been saved in /tmp/sphinx-err-x6sgz8xu.log, if you want to report the issue to the developers.
Please also report this if it was a user error, so that a better error message can be provided next time.
A bug report can be filed in the tracker at <https://github.com/sphinx-doc/sphinx/issues>. Thanks!
stdout:
Running Sphinx v1.5.6
making output directory...

stderr
None
[]
[]
[]
copying /opt/ros/kinetic/lib/python2.7/dist-packages/rosdoc_lite/templates/msg-styles.css to build/html/msg-styles.css
Done documenting moveit_tutorials you can find your documentation here: /home/liuqiang/Desktop/catkin_ws/src/moveit_tutorials/build

That is because I installed anaconda3 and setted up it's environment variable in .bashrc, so I should
Comment it and source .bashrc
Finally I succeed

Screenshot from 2018-01-02 20-53-17.png
Screenshot from 2018-01-02 20-55-30.png