Improve: ros2-ified perception tutorial

Author: 130s

doc/examples/perception_pipeline/perception_pipeline_tutorial.rst

@@ -1,8 +1,3 @@
-:moveit1:
-
-..
-   Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag)
-
 Perception Pipeline Tutorial
 ============================
 
@@ -30,7 +25,7 @@ To use the Occupancy Map Updater, it is only necessary to set the appropriate pa
 YAML Configuration file (Point Cloud)
 +++++++++++++++++++++++++++++++++++++
 
-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see :panda_codedir:`this example file<config/sensors_kinect_pointcloud.yaml>` for processing point clouds.
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see :panda_codedir:`this example file <config/sensors_kinect_pointcloud.yaml>` for processing point clouds.
 
 Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_pointcloud.yaml": ::
 
@@ -111,9 +106,9 @@ Update the launch file
 
 Add the YAML file to the launch script
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt to use: ::
+You will now need to create a *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory (e.g. `on github <https://github.com/ros-planning/panda_moveit_config/blob/rolling-devel/launch/sensor_manager.launch.xml>`_) with this sensor information. You will need to add the following line into that file to configure the set of sensor sources for MoveIt to use: ::
 
- <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
+ <param from="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
 
 If you are using depthmap change the name of the yaml file to ``sensors_kinect_depthmap.yaml``.
 Note that you will need to input the path to the right file you have created above.
@@ -143,7 +138,7 @@ Running the Interface
 +++++++++++++++++++++
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
 
- roslaunch moveit_tutorials obstacle_avoidance_demo.launch
+ ros2 launch moveit_tutorials obstacle_avoidance_demo.launch
 
 You should see something like the image shown at the beginning of this tutorial.
 If not, you may have run into a `known OpenGL rendering issue <http://wiki.ros.org/rviz/Troubleshooting>`_. To work around the issue, you can force CPU-based rendering with this command: