Update MoveIt2 source build instructions (#829)

install-moveit2/source/index.markdown

@@ -13,58 +13,44 @@ Installing MoveIt 2 from source is the first step in contributing new features,
 
 MoveIt is mainly supported on Linux, and the following build instructions support in particular:
 
-- Ubuntu 20.04 / ROS 2 Foxy Fitzroy (LTS)
-- Ubuntu 20.04 / ROS 2 Galactic Geochelone
 - Ubuntu 22.04 / ROS 2 Humble Hawksbill (Recommended LTS)
-- Ubuntu 22.04 / ROS 2 Rolling Ridley (Continuously Updated)
+- Ubuntu 22.04 / ROS 2 Iron Irwini (Recommended Stable)
+- Ubuntu 22.04 / ROS 2 Rolling Ridley (Continuously Updated. Use this to access latest features.)
 
 In the future, we would like to expand our source build instructions to more OS's, please contribute instruction write-ups to [this repo](https://github.com/ros-planning/moveit.ros.org).
 
-These instructions assume you are running on Ubuntu 22.04 (Humble, Rolling), or Ubuntu 20.04 (Foxy, Galactic).
+These instructions assume you are running on Ubuntu 22.04 (Humble, Iron, Rolling)
 
 ## Prerequisites
 
 ### Install <img src="/assets/install_page/ros_logo.jpeg"/>
 
-Install ROS 2 [Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html), [Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions. We recommend Humble for stable latest LTS distribution needs, and Rolling for contributing to MoveIt 2. Currently the [main branch](https://github.com/ros-planning/moveit2) supports Rolling, Iron, and Humble. However, since it's used for latest development, the main branch is unstable. For stable versions, please use the distro branches [humble](https://github.com/ros-planning/moveit2/tree/humble), or [iron](https://github.com/ros-planning/moveit2/tree/iron).
+Install ROS 2 [Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html), [Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions.
 
-Use the desktop installation and don't forget to source the setup script.
+We recommend Humble for stable latest LTS distribution needs, Iron for latest stable release, and Rolling for contributing to MoveIt 2. Currently the [main branch](https://github.com/ros-planning/moveit2) supports Rolling, Iron, and Humble. However, since it's used for latest development, the main branch is unstable. For stable versions, please use the distro branches [humble](https://github.com/ros-planning/moveit2/tree/humble), or [iron](https://github.com/ros-planning/moveit2/tree/iron).
 
-Make sure you have the latest versions of packages installed:
-
-    sudo apt update
-    sudo apt dist-upgrade
-    rosdep update
-
-Source installation requires various <a href="https://docs.ros.org/en/foxy/Installation/Linux-Development-Setup.html" target="_blank">ROS2 build tools</a>:
+MoveIt2 source installation requires various other tools apart from what is already mentioned in the ROS2 install docs.
 
     sudo apt install -y \
       build-essential \
       cmake \
       git \
-      libbullet-dev \
       python3-colcon-common-extensions \
       python3-flake8 \
-      python3-pip \
-      python3-pytest-cov \
       python3-rosdep \
       python3-setuptools \
       python3-vcstool \
-      wget && \
-    # install some pip packages needed for testing
-    python3 -m pip install -U \
-      argcomplete \
-      flake8-blind-except \
-      flake8-builtins \
-      flake8-class-newline \
-      flake8-comprehensions \
-      flake8-deprecated \
-      flake8-docstrings \
-      flake8-import-order \
-      flake8-quotes \
-      pytest-repeat \
-      pytest-rerunfailures \
-      pytest
+      wget
+
+Make sure you have the latest versions of packages installed:
+
+    sudo apt update
+    sudo apt dist-upgrade
+    rosdep update
+
+Finally, don't forget to source the setup script.
+
+    source /opt/ros/$ROS_DISTRO/setup.bash
 
 ### Uninstall Any Pre-existing MoveIt Debians
 
@@ -84,13 +70,13 @@ Create a colcon workspace:
 
 Download the repository and install any dependencies. Issue the relevant commands for your ROS distribution.
 
-### Foxy, Galactic, Humble - stable
+### Humble, Iron -stable
 
     git clone https://github.com/ros-planning/moveit2.git -b $ROS_DISTRO
     for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
     rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
 
-### Rolling, Humble - unstable
+### Rolling, Iron, Humble -unstable
 
     git clone https://github.com/ros-planning/moveit2.git -b main
     for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done