Update all links to MoveIt Pro to point to the comparision page

_includes/announcement-banner.html

@@ -1,7 +1,7 @@
 <div class="moveit_announcement_banner">
   <span class="moveit_announcement_banner--close"></span>
   <!-- Close button -->
-  <a href="https://picknik.ai/pro/">
+  <a href="https://picknik.ai/moveit-2-vs-moveit-pro/">
     <img
       src="/assets/images/MoveIt_Announcement_Banner.png"
       alt="MoveIt announcement banner"

_includes/footer.html

@@ -12,8 +12,8 @@
           >
         </p>
         <p>
-          Check out 
-          <a href="https://picknik.ai/pro/" target="_blank"
+          Check out
+          <a href="https://picknik.ai/moveit-2-vs-moveit-pro/" target="_blank"
             >MoveIt Pro</a
           >
         </p>

_includes/nav-bar.html

@@ -31,7 +31,7 @@
             <div class="dropdown-menu" aria-labelledby="navbarDropdownInstall">
               <a class="dropdown-item" href="/install">MoveIt 1</a>
               <a class="dropdown-item" href="/install-moveit2/binary/">MoveIt 2</a>
-              <a class="dropdown-item" target="_blank" href="https://picknik.ai/pro/">MoveIt Pro</a>
+              <a class="dropdown-item" target="_blank" href="https://picknik.ai/moveit-2-vs-moveit-pro/">MoveIt Pro</a>
             </div>
           </li>
           <li class="nav-item dropdown">

_posts/2018-2-26-tutorials-documentation-codesprint.markdown

@@ -25,6 +25,6 @@ There are several key objectives we want to achieve:
  - Clean up the content and organization of the tutorials to help new users learn MoveIt! faster
  - Revamp the aesthetic appearance of the MoveIt! website
 
-We would like to thank Franka Emika for agreeing to sponsor this code sprint and their newest sensitive robotic arm - Panda - becoming the new flagship robot in the MoveIt! tutorials. You can find more information about open-source libraries and existing ROS integration of Panda at [https://frankaemika.github.io](https://frankaemika.github.io).
+We would like to thank Franka Emika for agreeing to sponsor this code sprint and their newest sensitive robotic arm - Panda - becoming the new flagship robot in the MoveIt! tutorials.
 
 <img src="{{ site.url }}/assets/images/sponsors/franka_logo.png" width="300" style="margin-top:20px"/>

_posts/2018-4-16-moveit-on-discourse.markdown

@@ -15,7 +15,7 @@ categories:
 
 In recent years there has been a migration related to ROS discussions, Q&A, and collaboration to [ROS Discourse](http://discourse.ros.org). Inspired by ROS-Industrial's migration this month away from Google Groups, and we believe its time for MoveIt! to migrate as well. Starting April 16, 2018 the moveit-users Google Group will be marked as read-only. The content that is currently within the Google Groups forum will be kept available for reference, and inquiries to moveit-users will be met with an automatic reply to direct inquiries to the MoveIt! Discourse category.
 
-For users the move to the [MoveIt! Discourse category](https://discourse.ros.org/c/moveit) should be quite convenient and efficient. Accounts from GitHub, or Google, may be used, so no new accounts will be needed in those cases.
+For users the move to the [MoveIt! Discourse category](https://discourse.openrobotics.org/tag/moveit) should be quite convenient and efficient. Accounts from GitHub, or Google, may be used, so no new accounts will be needed in those cases.
 
 This Discourse category will not be for MoveIt! user questions, requests for technical help, or applications to specific robots. For user technical questions, please post on [ROS Answers](https://answers.ros.org/questions/) and tag with 'moveit'. All off topic questions will be deleted from this Discourse category.
 

_posts/2019-08-05-world-moveit-day-2019.md

@@ -61,7 +61,7 @@ Please state your intent to join or host the international event on [this form](
   - [Event details](https://www.eventbrite.com/e/world-moveit-day-2019-boulder-registration-74104704165?aff=ebdssbdestsearch)
 - USA, CA, Union City, [Vicarious](https://www.vicarious.com/)
   - Organizer: Peter So
-- USA, CA, San Jose, [Fetch Robotics](https://fetchrobotics.com/)
+- USA, CA, San Jose, Fetch Robotics
   - Organizer: Amel Ali
 - USA, ID, Pocatello, [Idaho State University](https://www.isu.edu)
   - Organizer: Omid Heidari

_posts/2022-03-15-gsoc.md

@@ -16,4 +16,4 @@ categories:
 
 MoveIt has been accepted again as a mentoring organization for the Google Summer of Code! Details about the program can be found [here](https://summerofcode.withgoogle.com/how-it-works/). Ideas for possible projects are listed [here](/events/2022-google-summer-of-code/). If you are a student who enjoys working on MoveIt, this is your chance. At a minimum, you should have experience with ROS. Ideally, you have also worked with MoveIt before. Almost all projects require experience with programming in C++.
 
-Now is the time to discuss your interest in a particular project on [Discourse](https://discourse.ros.org/c/moveit) or, when appropriate, on [Github](https://github.com/moveit/moveit.ros.org). I highly recommend to engage with the MoveIt community on Discourse *before* submitting an application. Make sure to look at [our tips for successful GSoC applications](/events/2022-google-summer-of-code/#tips-for-writing-a-successful-google-summer-of-code-application-for-moveit).
+Now is the time to discuss your interest in a particular project on [Discourse](https://discourse.openrobotics.org/tag/moveit) or, when appropriate, on [Github](https://github.com/moveit/moveit.ros.org). I highly recommend to engage with the MoveIt community on Discourse *before* submitting an application. Make sure to look at [our tips for successful GSoC applications](/events/2022-google-summer-of-code/#tips-for-writing-a-successful-google-summer-of-code-application-for-moveit).

_posts/2023-11-21-GSoC-2023-MoveIt-Servo-and-IK-Benchmarking.md

@@ -84,7 +84,7 @@ While this project originally started with a focus on our new [pick_ik](https://
 * How accurate are the solutions?
 * If solver X is faster than solver Y, when/why is it better to use solver Y at all?
 
-Taking these questions as a starting point, Mohamed was crucial in the release of our new [ik_benchmarking](https://github.com/PickNikRobotics/ik_benchmarking) tool. While benchmarking pick_ik was our original goal, coincidentally, this project was happening at the same time as TRACLabs open-sourced their [ROS 2 port of the TRAC-IK solver](https://bitbucket.org/traclabs/trac_ik/src/rolling-devel/). This solver’s performance (speed and solve rate) with our benchmarks matched those presented in their repo very well.
+Taking these questions as a starting point, Mohamed was crucial in the release of our new [ik_benchmarking](https://github.com/PickNikRobotics/ik_benchmarking) tool. While benchmarking pick_ik was our original goal, coincidentally, this project was happening at the same time as TRACLabs open-sourced their ROS 2 port of the TRAC-IK solver. This solver’s performance (speed and solve rate) with our benchmarks matched those presented in their repo very well.
 
 To configure your IK benchmarking experiment with this new package, you can create a YAML file like this. The key parts are the MoveIt configuration package, a list of IK solver configuration files within that package, and the actual samples to generate.
 

_posts/2024-01-31-Bin-Picking-Flexible-&-Fast-For-Any-Brand-of-Robot-Arm.md

@@ -22,4 +22,4 @@ In this application, we present our solution to one of the many tedious and repe
 
 In this short video, you can see a Kinova Gen 3 and UR5e performing a bin-picking task using a two-finger gripper or suction end-effector. Using a ML-based behavior for image segmentation along with behaviors for depth image processing and point cloud registration, these objectives quickly and reliably generate and execute motion plans to remove items one at a time from a bin without training or prior knowledge of the object to be picked. MoveIt Studio allows on-site or remote operators to build, modify, and monitor the execution of this objective’s behavior tree as it picks, plans, and (if necessary) complete fallback or fault recovery.
 
-Whether you’re looking for a springboard on which to launch your new robotics product, or need a reliable robotic solution for your commercial application, MoveIt Pro can help you solve your problem.  MoveIt Pro leverages industry leading motion planners, world class robotics know-how, and the hard-won wisdom gained delivering and deploying robust solutions to challenging robotic problems. To learn more about how MoveIt Pro can help accelerate your product’s development [contact us](https://picknik.ai/connect/) or read more [here](https://picknik.ai/pro/).
+Whether you’re looking for a springboard on which to launch your new robotics product, or need a reliable robotic solution for your commercial application, MoveIt Pro can help you solve your problem.  MoveIt Pro leverages industry leading motion planners, world class robotics know-how, and the hard-won wisdom gained delivering and deploying robust solutions to challenging robotic problems. To learn more about how MoveIt Pro can help accelerate your product’s development [contact us](https://picknik.ai/connect/) or read more [here](https://picknik.ai/moveit-2-vs-moveit-pro/).

_posts/2024-02-20-Introduciong-MoveIt-Pro-Rapid-Robotics-Application-Development-for-Unstructured-Environments.md

@@ -37,7 +37,7 @@ MoveIt Studio’s intuitive visual UI streamlines the creation of advanced robot
 
 **Extensive Library of Reference Applications**
 
-Our library of reference applications allows you to significantly reduce development time. Current reference applications include, bin picking, opening doors, pick & place, peg in hole, scan & plan, cutting along path, and visual servoing. See our reference applications in action at [https://picknik.ai/pro/](https://picknik.ai/pro/).
+Our library of reference applications allows you to significantly reduce development time. Current reference applications include, bin picking, opening doors, pick & place, peg in hole, scan & plan, cutting along path, and visual servoing. See our reference applications in action at [https://picknik.ai/moveit-2-vs-moveit-pro/](https://picknik.ai/moveit-2-vs-moveit-pro/).
 
 **Robust Enterprise Support**
 

_posts/2024-03-25-MoveIt-Planning-Pipeline-Refactoring.md

@@ -129,4 +129,4 @@ PILZIndustrialMotionPlanner<br/>
 &nbsp;&nbsp;&nbsp;Publishes the computed path to RVIZ for visualization.<br/>
 
 ### Conclusion
-MoveIt 2 now supports more customizable planning pipelines to support the varying planning needs of unstructured environments. We are looking forward to seeing your planner or adapter plugin implementations as contributions to the MoveIt ecosystem! For more production environment features, check out our [MoveIt Pro](https://picknik.ai/pro/) offering.
+MoveIt 2 now supports more customizable planning pipelines to support the varying planning needs of unstructured environments. We are looking forward to seeing your planner or adapter plugin implementations as contributions to the MoveIt ecosystem! For more production environment features, check out our [MoveIt Pro](https://picknik.ai/moveit-2-vs-moveit-pro/) offering.

about/get_involved/index.markdown

@@ -21,8 +21,8 @@ title: Get Involved
     <h3>Stay in touch</h3>
     <div class="get-involved-content">
       <img alt="Discourse" src="/assets/images/discourse.png">
-      <p>Follow MoveIt on <a href="http://discourse.ros.org/c/moveit" target="_blank">ROS Discourse</a> for project announcements, discussion of future development, maintenance, testing, and releases.</p>
-      <a class="button" href="http://discourse.ros.org/c/moveit" target="_blank">SUBSCRIBE</a>
+      <p>Follow MoveIt on <a href="http://discourse.ros.org/" target="_blank">ROS Discourse</a> for project announcements, discussion of future development, maintenance, testing, and releases.</p>
+      <a class="button" href="http://discourse.ros.org/" target="_blank">SUBSCRIBE</a>
     </div>
     <img alt="Discord" src="/assets/images/discord.jpg">
     <p>

documentation/applications/index.markdown

@@ -17,7 +17,7 @@ Some advanced MoveIt applications with full robotic setups can be found in [move
 
 ## MoveIt Pro
 
-PickNik Robotics offers the commercial-grade [MoveIt Pro](https://picknik.ai/pro/) runtime and developer platform. Build on the foundation of the open-source codebase, MoveIt Pro enables commercial deployments of robots in unstructured environments faster and more reliable to ship to production. MoveIt Pro has been used to create challenging applications like:
+PickNik Robotics offers the commercial-grade [MoveIt Pro](https://picknik.ai/moveit-2-vs-moveit-pro/) runtime and developer platform. Build on the foundation of the open-source codebase, MoveIt Pro enables commercial deployments of robots in unstructured environments faster and more reliable to ship to production. MoveIt Pro has been used to create challenging applications like:
 
 ### Complex Task Sequencing for Material Handling
 

documentation/concepts/developer_concepts/index.markdown

@@ -35,4 +35,3 @@ For a more detailed view of how the manager handles the collision checking proce
 ## TrajOpt Planner
 TrajOpt is an optimization-based motion planner. The following diagram shows how it works in MoveIt.
 <img src='/assets/images/diagrams/trajopt.png' style="width: 100%;"/>
-[The chart source file](https://docs.google.com/drawings/d/1_j75qFitQEAEHOYASnI3DN0RiVp4o0r5Txlh78wzvUY/edit?usp=sharing)

documentation/contributing/releases/index.markdown

@@ -71,7 +71,7 @@ The maintainer handling the release must have write access to both devel repos (
    find . -iname package.xml -exec \
      sed -i "s#<version>.*</version>#<version>x.y.z</version>#g" {} \;
    ```
-1. Write release notes on moveit.ai (e.g. [1](https://github.com/moveit/moveit.ros.org/pull/115), [2](https://github.com/moveit/moveit.ros.org/pull/110)). Send it to [Discourse MoveIt category](https://discourse.ros.org/c/moveit).
+1. Write release notes on moveit.ai (e.g. [1](https://github.com/moveit/moveit.ros.org/pull/115), [2](https://github.com/moveit/moveit.ros.org/pull/110)). Send it to [Discourse MoveIt category](https://discourse.openrobotics.org/tag/moveit).
 1. Forward the `reviewed-for-backport` branch to `<release-branch>: git checkout reviewed-for-backport; git merge --ff-only <release-branch>`.
 
 ### Release Versioning Policy

documentation/faqs/index.markdown

@@ -111,7 +111,7 @@ _What robots does MoveIt support?_
 
 _How do I hear the latest announcements on MoveIt?_
 
-  * Watch the [MoveIt Category on ROS Discourse](https://discourse.ros.org/c/moveit)
+  * Watch the [MoveIt Category on ROS Discourse](https://discourse.openrobotics.org/tag/moveit)
   * Follow the [MoveIt blog](/blog).
   * Follow <a href="https://twitter.com/PickNikRobotics" target="_blank">@PickNikRobotics</a> on Twitter.
 

documentation/related_projects/index.markdown

@@ -9,7 +9,7 @@ title: Related Projects
 
 # MoveIt Related Projects
 
-MoveIt is designed to be easily extensible as separate plugins or projects. Below is a list of related projects that have been aligned with the MoveIt framework, in alphabetical order of project names. This is by no means exhaustive. Please create pull-requests in the repository [moveit.ros.org](https://github.com/moveit/moveit.ros.org) to **add** other projects to this list. Or if not sure about the relevance, please post on the [ROS Discourse category](https://discourse.ros.org/c/moveit).
+MoveIt is designed to be easily extensible as separate plugins or projects. Below is a list of related projects that have been aligned with the MoveIt framework, in alphabetical order of project names. This is by no means exhaustive. Please create pull-requests in the repository [moveit.ros.org](https://github.com/moveit/moveit.ros.org) to **add** other projects to this list. Or if not sure about the relevance, please post on the [ROS Discourse category](https://discourse.openrobotics.org/tag/moveit).
 
 ## Cartesian Path Planner Plug-In for MoveIt!
 
@@ -63,7 +63,7 @@ Its current implementation takes as input a pose vector (position and orientatio
 
 ## MoveIt Pro Runtime and Developer Platform
 
-PickNik's MoveIt Pro Runtime and Developer Platform enables robotics engineers and robot field operators to more quickly build advanced applications that include mobile manipulators and robot arms. Designed with a user-friendly interface, it includes advanced drop-in motion control, grasping and perception capabilities. State management is done with behavior trees and MoveIt Pro comes with an extensive tool-set that make it easy to build and debug applications, inspect trajectories, diagnose failures, and provide robot recovery. [Click here to learn more](https://picknik.ai/pro/).
+PickNik's MoveIt Pro Runtime and Developer Platform enables robotics engineers and robot field operators to more quickly build advanced applications that include mobile manipulators and robot arms. Designed with a user-friendly interface, it includes advanced drop-in motion control, grasping and perception capabilities. State management is done with behavior trees and MoveIt Pro comes with an extensive tool-set that make it easy to build and debug applications, inspect trajectories, diagnose failures, and provide robot recovery. [Click here to learn more](https://picknik.ai/moveit-2-vs-moveit-pro/).
 
 <img src="/documentation/applications/pickandplace.gif" height="500"/>
 

events/world-moveit-day/index.markdown

@@ -101,7 +101,7 @@ If you have any questions refer to the [Discourse Topic](http://discourse.ros.or
 
 We'd like to thank the following sponsors:
 
-- [Fetch Robotics](http://fetchrobotics.com/) for sponsoring the main event, stickers, and helping organize
+- Fetch Robotics for sponsoring the main event, stickers, and helping organize
 - [Travis CI](http://travis-ci.com) for providing increased continuous integration time on their build farm for this event
 
 <img src="/assets/images/sponsors/travis-ci.png" width="300" css="margin-right:20px"/>

index.markdown

@@ -66,7 +66,7 @@ redirect_from: '/moveit/'
                                     <span>|</span>
                                     <a href="https://github.com/moveit/moveit2" target="_blank" class="info-box-link">View&nbsp;on&nbsp;Github</a>
                                     <span>|</span>
-                                    <a href="https://picknik.ai/pro/" target="_blank" class="info-box-link">MoveIt&nbsp;Pro</a>
+                                    <a href="https://picknik.ai/moveit-2-vs-moveit-pro/" target="_blank" class="info-box-link">MoveIt&nbsp;Pro</a>
                                 </div>
                                 <img src="/assets/images/logo/ROS_logo.png" alt="ROS logo" class="info-box-logo" />
                             </div>
@@ -363,7 +363,7 @@ redirect_from: '/moveit/'
                     <div class="release-versions__1">
                       <h3>MoveIt Pro</h3>
                       <p>
-                        <a href="https://picknik.ai/pro/" target="_blank">View product page</a>
+                        <a href="https://picknik.ai/moveit-2-vs-moveit-pro/" target="_blank">View product page</a>
                       </p>
                     </div>
                     <div class="release-versions__2">

robots/index.markdown

@@ -26,7 +26,7 @@ title: Robots
 					</div>
 				</div>
 				<p>See something missing? If you would like to add a robot to this list, please contact <a href="http://picknik.ai/">PickNik Robotics</a></p>
-				<p>We are also looking for robot maintainers and new robots. If you are willing to maintain the MoveIt packages for any robot in this list please post on the <a href="https://discourse.ros.org/c/moveit" target="_blank">ROS Discourse category</a>.</p>
+				<p>We are also looking for robot maintainers and new robots. If you are willing to maintain the MoveIt packages for any robot in this list please post on the <a href="https://discourse.openrobotics.org/tag/moveit" target="_blank">ROS Discourse category</a>.</p>
 			</div>
 		</div>
 	</div>