Add travis build (moveit#17)

Fix broken links
ivareri · Sep 29, 2016 · 87bc2bd · 87bc2bd
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diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,41 @@
+# Test build the MoveIt! tutorials. Author: Dave Coleman
+sudo: required
+dist: trusty
+language: generic
+python:
+  - "2.7"
+compiler:
+  - gcc
+before_install: # Use this to prepare the system to install prerequisites or dependencies
+  # Define some config vars
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - sudo -E sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install -qq -y python-rosdep python-wstool python-catkin-tools
+  # Setup rosdep
+  - sudo rosdep init
+  - rosdep update
+
+install:
+  - sudo apt-get update
+  # Install newer version of ruby
+  - sudo apt-get -qq install software-properties-common
+  - sudo apt-add-repository -y ppa:brightbox/ruby-ng
+  - sudo apt-get update
+  - sudo apt-get -qq install ruby2.2-dev ruby2.2
+  # Install htmlpoofer
+  - sudo gem update
+  - sudo gem install pkg-config
+  - sudo gem install mini_portile2
+  - sudo gem install html-proofer
+  # Install ROS's version of sphinx
+  - sudo apt-get -qq install ros-indigo-rosdoc-lite
+  - source /opt/ros/indigo/setup.bash
+
+script: # run tests
+  - rosdoc_lite -o build .
+  - ls -la
+  - htmlproofer ./build --only-4xx --check-html --file-ignore ./build/html/genindex.html,./build/html/search.html,./build/html/index-msg.html --alt-ignore '/.*/' --url-ignore '#'
diff --git a/README.md b/README.md
@@ -2,6 +2,12 @@
 
 This repo is automatically built by the ROS build farm and its output is hosted here: http://docs.ros.org/indigo/api/moveit_tutorials/html/
 
+## Travis Continuous Integration
+
+[![Build Status](https://travis-ci.org/ros-planning/moveit_tutorials.svg?branch=master)](https://travis-ci.org/ros-planning/moveit_tutorials)
+
+## ROS Buildfarm
+
 [![Build Status](http://build.ros.org/buildStatus/icon?job=Idoc__moveit_tutorials__ubuntu_trusty_amd64&build=2)](http://build.ros.org/job/Idoc__moveit_tutorials__ubuntu_trusty_amd64/2/)
 
 ## Build

diff --git a/conf.py b/conf.py
@@ -53,9 +53,10 @@
 # Add any paths that contain custom themes here, relative to this directory.
 
 # Links
-extlinks = {'codedir': ('https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/%s', ''),
+extlinks = {'codedir': ('https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials//%s', ''),
             'moveit_core': ('http://docs.ros.org/indigo/api/moveit_core/html/classmoveit_1_1core_1_1%s.html', ''),
             'planning_scene': ('http://docs.ros.org/indigo/api/moveit_core/html/classplanning__scene_1_1%s.html', ''),
+            'planning_scene_interface': ('http://docs.ros.org/indigo/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
             'planning_scene_monitor': ('http://docs.ros.org/indigo/api/moveit_ros_planning/html/classplanning__scene__monitor_1_1%s.html', ''),
             'collision_detection_struct': ('http://docs.ros.org/indigo/api/moveit_core/html/structcollision__detection_1_1%s.html', ''),
             'collision_detection_class': ('http://docs.ros.org/indigo/api/moveit_core/html/classcollision__detection_1_1%s.html', ''),

diff --git a/doc/ikfast_tutorial.rst b/doc/ikfast_tutorial.rst
@@ -36,7 +36,8 @@ Inside your catkin workspace ::
 
 OpenRAVE Installation
 ----------------------
-**Binary Install (only Indigo / Ubuntu 14.04) **
+
+**Binary Install (only Indigo / Ubuntu 14.04)**
 
  sudo apt-get install ros-indigo-openrave
 

diff --git a/doc/pr2_tutorials/interactivity/src/attached_body_tutorial.cpp b/doc/pr2_tutorials/interactivity/src/attached_body_tutorial.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the Attached Body tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/AttachedBody
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/AttachedBody
 
 #include <ros/ros.h>
 #include "interactive_robot.h"

diff --git a/doc/pr2_tutorials/interactivity/src/collision_contact_tutorial.cpp b/doc/pr2_tutorials/interactivity/src/collision_contact_tutorial.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the Collision Contact Visualization tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/CollisionContact
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/CollisionContact
 
 #include <ros/ros.h>
 #include "interactive_robot.h"

diff --git a/doc/pr2_tutorials/interactivity/src/imarker.cpp b/doc/pr2_tutorials/interactivity/src/imarker.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #include "imarker.h"
 #include "pose_string.h"

diff --git a/doc/pr2_tutorials/interactivity/src/imarker.h b/doc/pr2_tutorials/interactivity/src/imarker.h
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #ifndef MOVEIT_TUTORIALS_INTERACTIVITY_SRC_IMARKER_H_
 #define MOVEIT_TUTORIALS_INTERACTIVITY_SRC_IMARKER_H_

diff --git a/doc/pr2_tutorials/interactivity/src/interactive_robot.cpp b/doc/pr2_tutorials/interactivity/src/interactive_robot.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #include "interactive_robot.h"
 #include <eigen_conversions/eigen_msg.h>

diff --git a/doc/pr2_tutorials/interactivity/src/interactive_robot.h b/doc/pr2_tutorials/interactivity/src/interactive_robot.h
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #ifndef MOVEIT_TUTORIALS_INTERACTIVITY_SRC_INTERACTIVE_ROBOT_H_
 #define MOVEIT_TUTORIALS_INTERACTIVITY_SRC_INTERACTIVE_ROBOT_H_

diff --git a/doc/pr2_tutorials/interactivity/src/interactivity_tutorial.cpp b/doc/pr2_tutorials/interactivity/src/interactivity_tutorial.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #include <ros/ros.h>
 #include "interactive_robot.h"

diff --git a/doc/pr2_tutorials/interactivity/src/pose_string.cpp b/doc/pr2_tutorials/interactivity/src/pose_string.cpp
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #include "pose_string.h"
 

diff --git a/doc/pr2_tutorials/interactivity/src/pose_string.h b/doc/pr2_tutorials/interactivity/src/pose_string.h
@@ -35,7 +35,7 @@
 /* Author: Acorn Pooley */
 
 // This code goes with the interactivity tutorial
-//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial
+//    http://picknik.io/moveit_wiki/index.php?title=InteractiveRobot/InteractivityTutorial
 
 #ifndef MOVEIT_TUTORIALS_INTERACTIVITY_SRC_POSE_STRING_
 #define MOVEIT_TUTORIALS_INTERACTIVITY_SRC_POSE_STRING_

diff --git a/doc/pr2_tutorials/kinematics/src/doc/kinematics_tutorial.rst b/doc/pr2_tutorials/kinematics/src/doc/kinematics_tutorial.rst
@@ -76,8 +76,3 @@ The expected output will be in the following form. The numbers will not match si
            0    0.965189    0.229185    0.973042  -0.0665617   -0.991369  -0.0900434
            0    0.261552   -0.845745    0.212168   -0.116995     0.12017    -0.91467
            1           0    -0.48186   0.0904127    0.990899  -0.0524048   -0.394045
-
-Additional Reading
-^^^^^^^^^^^^^^^^^^
-
- * `RobotState Display <http://moveit.ros.org/wiki/RobotStateDisplay/C%2B%2B_API>`_ - Visualization of the RobotState using Rviz
diff --git a/doc/pr2_tutorials/planning/launch/motion_planning_api_tutorial.launch b/doc/pr2_tutorials/planning/launch/motion_planning_api_tutorial.launch
@@ -20,7 +20,7 @@
     <arg name="config" value="true"/>
   </include>
 
-  <node name="motion_planning_interface_tutorial" pkg="moveit_tutorials" type="motion_planning_api_tutorial" respawn="false" launch-prefix="$(arg launch_prefix)" output="screen">
+  <node name="motion_planning_api_tutorial" pkg="moveit_tutorials" type="motion_planning_api_tutorial" respawn="false" launch-prefix="$(arg launch_prefix)" output="screen">
     <rosparam command="load" file="$(find pr2_moveit_config)/config/kinematics.yaml"/>
     <param name="/planning_plugin" value="ompl_interface/OMPLPlanner"/>
     <rosparam command="load" file="$(find pr2_moveit_config)/config/ompl_planning.yaml"/>

diff --git a/doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.rst b/doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.rst
@@ -16,7 +16,7 @@ The entire code can be seen :codedir:`here in the moveit_pr2 github project<plan
 The launch file
 ^^^^^^^^^^^^^^^
 The entire launch file is `here
-<https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/move_group_python_interface_tutorial.launch>`_
+<https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/move_group_python_interface_tutorial.launch>`_
 on github. All the code in this tutorial can be run from the
 moveit_tutorials package that you have as part of your MoveIt! setup.
 

diff --git a/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst
@@ -17,7 +17,7 @@ Follow the `instructions for compiling code from source <http://moveit.ros.org/i
 
 The launch file
 ^^^^^^^^^^^^^^^
-The entire launch file is `here <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/motion_planning_interface_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
+The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/planning_pipeline_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
 that you have as part of your MoveIt! setup.
 
 Running the code

diff --git a/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst
@@ -15,7 +15,7 @@ Follow the `instructions for compiling code from source <http://moveit.ros.org/i
 
 The launch file
 ^^^^^^^^^^^^^^^
-The entire launch file is `here <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/move_group_interface_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
+The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/move_group_interface_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
 that you have as part of your MoveIt! setup.
 
 Running the code

diff --git a/doc/pr2_tutorials/planning/src/doc/perception_configuration.rst b/doc/pr2_tutorials/planning/src/doc/perception_configuration.rst
@@ -8,7 +8,7 @@ In this section, we will walk through configuring the 3D sensors on your robot w
 YAML Configuration file (Point Cloud)
 -------------------------------------
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. An example file for processing point clouds can be found in the `moveit_pr2 github project <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/pr2_moveit_config/config/sensors_kinect.yaml>`_ ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. An example file for processing point clouds can be found in the `moveit_pr2 github project <https://github.com/ros-planning/moveit_pr2/blob/indigo-devel/pr2_moveit_config/config/sensors_kinect.yaml>`_ ::
 
  sensors:
    - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
@@ -34,7 +34,7 @@ Parameters specific to the Point cloud updater are:
 YAML Configuration file (Depth Map)
 -----------------------------------
 
-We will have to generate a rgbd.yaml configuration file for configuring the 3D sensors. An example file for processing point clouds can be found in the `moveit_advanced github project <https://github.com/ros-planning/moveit_advanced/blob/hydro-devel/pr2_advanced_config/config/sensors_kinect.yaml>`_ ::
+We will have to generate a rgbd.yaml configuration file for configuring the 3D sensors. An example file for processing point clouds can be found in the `moveit_advanced github project <https://github.com/ros-planning/moveit_advanced/blob/indigo-devel/pr2_advanced_config/config/sensors_kinect.yaml>`_ ::
 
  sensors:
    - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater

diff --git a/doc/pr2_tutorials/planning/src/doc/planning_pipeline_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/planning_pipeline_tutorial.rst
@@ -21,15 +21,14 @@ Follow the `instructions for compiling code from source <http://moveit.ros.org/i
 
 The launch file
 ^^^^^^^^^^^^^^^
-The entire launch file is `here <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/motion_planning_interface_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
-that you have as part of your MoveIt! setup.
+The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/planning_pipeline_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package that you have as part of your MoveIt! setup.
 
 Running the code
 ^^^^^^^^^^^^^^^^
 
 Roslaunch the launch file to run the code directly from moveit_tutorials::
 
- roslaunch moveit_tutorials motion_planning_interface_tutorial.launch
+ roslaunch moveit_tutorials motion_planning_api_tutorial.launch
 
 Expected Output
 ^^^^^^^^^^^^^^^

diff --git a/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.rst
@@ -18,7 +18,7 @@ Follow the `instructions for compiling code from source <http://moveit.ros.org/i
 
 The launch file
 ^^^^^^^^^^^^^^^
-The entire launch file is `here <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/planning_scene_ros_api_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
+The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/planning_scene_ros_api_tutorial.launch>`_ on github. All the code in this tutorial can be compiled and run from the moveit_tutorials package
 that you have as part of your MoveIt! setup.
 
 Running the code

diff --git a/doc/pr2_tutorials/planning/src/doc/planning_scene_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/planning_scene_tutorial.rst
@@ -17,7 +17,7 @@ Follow the `instructions for compiling code from source <http://moveit.ros.org/i
 
 The launch file
 ^^^^^^^^^^^^^^^
-The entire launch file is `here <https://github.com/ros-planning/moveit_pr2/blob/hydro-devel/moveit_tutorials/planning/launch/planning_scene_tutorial.launch>`_ on github. All the code in this
+The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/master/doc/pr2_tutorials/planning/launch/planning_scene_tutorial.launch>`_ on github. All the code in this
 tutorial can be compiled and run from the moveit_tutorials package
 that you have as part of your MoveIt! setup.
 

diff --git a/doc/pr2_tutorials/planning/src/planning_pipeline_tutorial.cpp b/doc/pr2_tutorials/planning/src/planning_pipeline_tutorial.cpp
@@ -55,8 +55,8 @@ int main(int argc, char **argv)
   // BEGIN_TUTORIAL
   // Start
   // ^^^^^
-  // Setting up to start using a planning pipeline is pretty easy. 
-  // Before we can load the planner, we need two objects, a RobotModel 
+  // Setting up to start using a planning pipeline is pretty easy.
+  // Before we can load the planner, we need two objects, a RobotModel
   // and a PlanningScene.
   // We will start by instantiating a
   // `RobotModelLoader`_
@@ -69,14 +69,13 @@ int main(int argc, char **argv)
   robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();
 
   // Using the :moveit_core:`RobotModel`, we can construct a
-  // :planning_scene:`PlanningScene` that maintains the state of 
-  // the world (including the robot). 
+  // :planning_scene:`PlanningScene` that maintains the state of
+  // the world (including the robot).
   planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
 
-  // We can now setup the 
-  // `PlanningPipeline`_
-  // object, which will use the ROS param server 
-  // to determine the set of request adapters and the 
+  // We can now setup the PlanningPipeline
+  // object, which will use the ROS param server
+  // to determine the set of request adapters and the
   // planning plugin to use
   planning_pipeline::PlanningPipelinePtr planning_pipeline(new planning_pipeline::PlanningPipeline(robot_model, node_handle, "planning_plugin", "request_adapters"));
 
@@ -102,8 +101,8 @@ int main(int argc, char **argv)
   std::vector<double> tolerance_pose(3, 0.01);
   std::vector<double> tolerance_angle(3, 0.01);
 
-  // We will create the request as a constraint using a helper function available 
-  // from the 
+  // We will create the request as a constraint using a helper function available
+  // from the
   // `kinematic_constraints`_
   // package.
   //
@@ -177,13 +176,13 @@ int main(int argc, char **argv)
 
   // Using a Planning Request Adapter
   // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  // A planning request adapter allows us to specify a series of operations that 
-  // should happen either before planning takes place or after the planning 
+  // A planning request adapter allows us to specify a series of operations that
+  // should happen either before planning takes place or after the planning
   // has been done on the resultant path
 
-  // First, let's purposefully set the initial state to be outside the 
+  // First, let's purposefully set the initial state to be outside the
   // joint limits and let the
-  // planning request adapter deal with it 
+  // planning request adapter deal with it
   /* First, set the state in the planning scene to the final state of the last plan */
   robot_state = planning_scene->getCurrentStateNonConst();
   planning_scene->setCurrentState(response.trajectory_start);

diff --git a/doc/pr2_tutorials/state_display/src/state_display_tutorial.cpp b/doc/pr2_tutorials/state_display/src/state_display_tutorial.cpp
@@ -50,7 +50,7 @@
 
 
 // This code is described in the RobotStateDisplay tutorial here:
-//    http://moveit.ros.org/wiki/index.php/Groovy/RobotStateDisplay/C%2B%2B_API
+//    http://picknik.io/moveit_wiki/index.php?title=RobotStateDisplay/C%2B%2B_API
 
 
 int main(int argc, char **argv)

diff --git a/doc/ros_visualization/visualization_tutorial.rst b/doc/ros_visualization/visualization_tutorial.rst
@@ -19,7 +19,7 @@ Alternately, you can just install the pre-made MoveIt! configuration
 for the PR2 in the pr2_moveit_config ROS package.  To install it,
 run::
 
-  sudo apt-get install ros-hydro-moveit-pr2
+  sudo apt-get install ros-indigo-moveit-pr2
 
 This tutorial does **not** require you to actually have a PR2 robot,
 it just needs a set of working robot model files.
@@ -156,5 +156,5 @@ What's Next
 -------------
 
 * `MoveIt! and a simulated robot
-  <http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start>`_ - You can now
+  <http://picknik.io/moveit_wiki/index.php?title=PR2/Gazebo/Quick_Start>`_ - You can now
   start using MoveIt! with a simulated robot in Gazebo.
diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst
@@ -9,7 +9,7 @@ configuring any robot for use with MoveIt!. Its primary function is
 generating a Semantic Robot Description Format (SRDF) file for your
 robot. Additionally, it generates other necessary configuration files
 for use with the MoveIt! pipeline. To learn more about the SRDF, you
-can go through the `SRDF Overview <http://moveit.ros.org/wiki/SRDF>`_
+can go through the `SRDF Overview <http://picknik.io/moveit_wiki/index.php?title=SRDF>`_
 page.
 
 Pre-requisites
@@ -37,9 +37,9 @@ Step 1: Start
 .. image:: setup_assistant_start.png
 
 * Click on the browse button and navigate to the *pr2.urdf.xacro* file
-  installed when you installed ros-hydro-moveit-full-pr2. (This file
+  installed when you installed ros-indigo-moveit-full-pr2. (This file
   gets installed in
-  /opt/ros/hydro/share/pr2_description/robots/pr2.urdf.xacro on Ubuntu
+  /opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro on Ubuntu
   with ROS Hydro.)  Choose that file and then click *Load Files*. The
   Setup Assistant will load the files (this might take a few seconds)
   and present you with this screen:
@@ -289,13 +289,13 @@ Additional Reading
 
 The SRDF
 
-* See the `SRDF <http://moveit.ros.org/wiki/SRDF>`_ page for more
+* See the `SRDF <http://picknik.io/moveit_wiki/index.php?title=SRDF>`_ page for more
   details on the components of the SRDF mentioned in this tutorial.
 
 URDF
 
 * The URDF is the native robot description format in ROS and allows
   you to describe the kinematics, inertial, visual and sensing
   properties of your robot. Read through the `URDF specific
-  documentation <http://moveit.ros.org/wiki/URDF>`_ to see how the
+  documentation <http://picknik.io/moveit_wiki/index.php?title=URDF>`_ to see how the
   URDF is used with MoveIt!
diff --git a/genindex.rst b/genindex.rst