README cleanups

Author: sea-bass

README.md

@@ -1,41 +1,39 @@
 # Experimental MoveIt 2 - Drake Integration
 
-NOTE: Experimental and will continue to have breaking changes until first
-release.
+> [!NOTE]
+> Experimental and will continue to have breaking changes until first release.
 
-`moveit_drake` brings together the vertical ROS integration of the
-[MoveIt 2](https://moveit.ai/) motion planning framework, with the Mathematical
-Programming interface within [Drake](https://drake.mit.edu/). This allows the
-user to setup motion planning as an optimization problem within ROS, with the
-rich specification of constraints and costs provided by `drake`.
+`moveit_drake` brings together the vertical ROS integration of the [MoveIt 2](https://moveit.ai/) motion planning framework, with the Mathematical Programming interface within [Drake](https://drake.mit.edu/).
+This allows the user to setup motion planning as an optimization problem within ROS, with the rich specification of constraints and costs provided by `drake`.
 
 
 ## Features
 
-- Exposes
-  [`KinematicTrajectoryOptimization`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_kinematic_trajectory_optimization.html)
-  implementation in `drake`.
-- Exposes [`TOPPRA`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html) implementation in `drake`.
+- Exposes [`KinematicTrajectoryOptimization`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_kinematic_trajectory_optimization.html) implementation in `drake` as a motion planner.
+- Exposes [`TOPPRA`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html) implementation in `drake` as a trajectory post-processor.
 
 ## Docker Workflow (Preferred and tested)
 
 ### Requirements
-`docker` and `docker-compose` - Follow instructions
-[here](https://docs.docker.com/engine/install/ubuntu/).
+Docker and Docker Compose - Follow the instructions [here](https://docs.docker.com/engine/install/ubuntu/).
+Also, run the [Linux post-installation steps](https://docs.docker.com/engine/install/linux-postinstall/).
 
 ### Steps
-The following steps clone and build the base image that you will require to
-test/build/run/develop with the repo
+The following steps clone and build the base image that you will require to test/build/run/develop with the repo.
 
-    git clone https://github.com/moveit/moveit_drake.git
-    cd moveit_drake
-    docker compose build
+```bash
+git clone https://github.com/moveit/moveit_drake.git
+cd moveit_drake
+docker compose build
+```
 
 This should give you an image with `drake` and `moveit2`.
 Next, create a container with the following and create shell access.
 
-    docker compose up
-    docker compose exec -it moveit_drake bash
+```bash
+docker compose up
+docker compose exec -it moveit_drake bash
+```
 
 Follow [instructions](#build-moveit_drake) below to build `moveit_drake`
 
@@ -48,25 +46,28 @@ Follow [instructions](#build-moveit_drake) below to build `moveit_drake`
 
 ### Build `moveit_drake`
 
-Follow the [MoveIt Source
-Build](https://moveit.ros.org/install-moveit2/source/) instructions to set up a
-colcon workspace with MoveIt from source.
+Follow the [MoveIt Source Build](https://moveit.ros.org/install-moveit2/source/) instructions to set up a ROS 2 workspace with MoveIt from source.
 
-Open a command line to your colcon workspace:
+Open a command line and navigate to your workspace:
 
-    cd ${WORKSPACE}/src
+```bash
+cd ${WORKSPACE}/src
+```
 
-Download the MoveIt Tutorials source code:
+Download the MoveIt 2 Tutorials source code:
 
-    git clone https://github.com/moveit/moveit_drake.git
-    vcs import < moveit_drake/moveit_drake.repos
-    rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y
+```bash
+git clone https://github.com/moveit/moveit_drake.git
+vcs import < moveit_drake/moveit_drake.repos
+rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y
+```
 
-Configure and build the workspace (this will take some time, as it builds
-moveit):
+Configure and build the workspace (this will take some time, as it builds MoveIt):
 
-    cd ${WORKSPACE}
-    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1
+```bash
+cd ${WORKSPACE}
+colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1
+```
 
 
 ## Examples
@@ -88,17 +89,17 @@ ros2 launch moveit_drake constrained_planning_demo.launch.py
 
 ### Formatting
 
-Use [pre-commit to format your code](https://moveit.ros.org/documentation/contributing/code/#pre-commit-formatting-checks)
+We use [pre-commit](https://moveit.ros.org/documentation/contributing/code/#pre-commit-formatting-checks) to format the code in this repo.
 
-Within the container, you can run the following command to format the code
+Within the container, you can run the following command to format the code:
 
 ```bash
 # inside the moveit_drake package
 pre-commit run -a
 ```
 
 ### Some helper commands
-To just rebuild `moveit_drake`.
+To rebuild only the `moveit_drake` package:
 
 ```bash
 rm -rf build/moveit_drake install/moveit_drake

include/ktopt_interface/ktopt_planning_context.hpp

@@ -81,7 +81,7 @@ class KTOptPlanningContext : public planning_interface::PlanningContext
 
   /**
    * @brief Adds path position constraints, if any, to the planning problem.
-   * @param trajopt The Drake mathematical program containing the trajectory optimization problem.
+   * @param trajopt The Drake object containing the trajectory optimization problem.
    * @param plant The Drake multibody plant to use for planning.
    * @param plant_context The context associated with the multibody plant.
    * @param padding Additional position padding on the MoveIt constraint, in meters.

src/ktopt_planning_context.cpp

@@ -78,7 +78,7 @@ void KTOptPlanningContext::solve(planning_interface::MotionPlanResponse& res)
   moveit::drake::getJerkBounds(joint_model_group, plant, lower_jerk_bounds, upper_jerk_bounds);
 
   // q represents the complete state (joint positions and velocities)
-  Eigen::VectorXd q = Eigen::VectorXd::Zero(plant.num_positions() + plant.num_velocities());
+  auto q = Eigen::VectorXd::Zero(plant.num_positions() + plant.num_velocities());
   q << moveit::drake::getJointPositionVector(start_state, getGroupName(), plant);
   q << moveit::drake::getJointVelocityVector(start_state, getGroupName(), plant);