Moveitcpp Tutorial Images (#571)

Added a missing image and additional images of expected outputs.

Author: bostoncleek

doc/moveit_cpp/images/moveitcpp_plan1.png

@@ -5,6 +5,10 @@ Introduction
 ------------
 MoveItCpp is a new high level interface, a unified C++ API that does not require the use of ROS Actions, Services, and Messages to access the core MoveIt functionality, and an alternative (not a full replacement) for the existing `MoveGroup API <../move_group_interface/move_group_interface_tutorial.html>`_, we recommend this interface for advanced users needing more realtime control or for industry applications. This interface has been developed at PickNik Robotics by necessity for our many commercial applications.
 
+.. image:: images/moveitcpp_start.png
+   :width: 300pt
+   :align: center
+
 Getting Started
 ---------------
 If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
@@ -28,4 +32,4 @@ The entire code can be seen :codedir:`here in the MoveIt GitHub project<moveit_c
 
 The Launch File
 ---------------
-The entire launch file is :codedir:`here<moveit_cpp/launch/moveit_cpp_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.
+The entire launch file is :codedir:`here<moveit_cpp/launch/moveit_cpp_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.

doc/moveit_cpp/images/moveitcpp_plan2.png

@@ -99,6 +99,13 @@ int main(int argc, char** argv)
     /* planning_components->execute(); // Execute the plan */
   }
 
+  // Plan #1 visualization:
+  //
+  // .. image:: images/moveitcpp_plan1.png
+  //    :width: 250pt
+  //    :align: center
+  //
+
   // Start the next plan
   visual_tools.deleteAllMarkers();
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
@@ -137,6 +144,13 @@ int main(int argc, char** argv)
     /* planning_components->execute(); // Execute the plan */
   }
 
+  // Plan #2 visualization:
+  //
+  // .. image:: images/moveitcpp_plan2.png
+  //    :width: 250pt
+  //    :align: center
+  //
+
   // Start the next plan
   visual_tools.deleteAllMarkers();
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
@@ -175,6 +189,13 @@ int main(int argc, char** argv)
     /* planning_components->execute(); // Execute the plan */
   }
 
+  // Plan #3 visualization:
+  //
+  // .. image:: images/moveitcpp_plan3.png
+  //    :width: 250pt
+  //    :align: center
+  //
+
   // Start the next plan
   visual_tools.deleteAllMarkers();
   visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
@@ -211,6 +232,13 @@ int main(int argc, char** argv)
     /* planning_components->execute(); // Execute the plan */
   }
 
+  // Plan #4 visualization:
+  //
+  // .. image:: images/moveitcpp_plan4.png
+  //    :width: 250pt
+  //    :align: center
+  //
+
   // END_TUTORIAL
   visual_tools.deleteAllMarkers();
   visual_tools.prompt("Press 'next' to end the demo");