From 33a5505d7f5d4ba8b9b82294e4a622c3e8c8ae76 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Tue, 17 Dec 2024 10:25:56 -0500
Subject: [PATCH] remove iron as an install option (#873)

---
 install-moveit2/binary/index.markdown | 59 +--------------------------
 install-moveit2/source/index.markdown | 11 +++--
 2 files changed, 6 insertions(+), 64 deletions(-)

diff --git a/install-moveit2/binary/index.markdown b/install-moveit2/binary/index.markdown
index 9a5015c6..b91a63e0 100644
--- a/install-moveit2/binary/index.markdown
+++ b/install-moveit2/binary/index.markdown
@@ -7,7 +7,7 @@ title: MoveIt 2 Binary Install
   <div>
     <h1>MoveIt 2 Binary Install</h1>
     We're thrilled you're ready to start using MoveIt 2!
-    Binary installation for MoveIt 2 are available for the ROS 2 distributions Jazzy and Rolling on Ubuntu 24.04, and Humble and Iron on Ubuntu 22.04.
+    Binary installation for MoveIt 2 are available for the ROS 2 distributions Jazzy and Rolling on Ubuntu 24.04, and Humble on Ubuntu 22.04.
     Select your preferred ROS 2 distribution below:
     <div class="row systems-rectangle">
       <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Humble" aria-expanded="true" aria-controls="Humble">
@@ -23,19 +23,6 @@ title: MoveIt 2 Binary Install
           </div>
         </div>
     </button>
-    <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Iron" aria-expanded="true" aria-controls="Iron">
-        <div class="row no-gutters">
-            <div class="col-auto">
-                <img src="/assets/install_page/ros_icon.png"/>
-              </div>
-          <div class="col-auto system-type">
-            <div class="system-name">
-                ROS 2
-            </div>
-            Iron
-          </div>
-        </div>
-    </button>
     <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Jazzy" aria-expanded="true" aria-controls="Jazzy">
         <div class="row no-gutters">
             <div class="col-auto">
@@ -112,50 +99,6 @@ title: MoveIt 2 Binary Install
       <!-- ----------------------------------------------------------------- -->
       <!-- ----------------------------------------------------------------- -->
       <!-- ----------------------------------------------------------------- -->
-      <div class="collapse" id="Iron" data-parent="#accordion">
-        <h3>
-          Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
-        </h3>
-        <p>
-          Follow all the instructions to install <a href="https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html" target="_blank">ROS 2 Iron</a>.
-        </p>
-        <div class="horizontal-line"></div>
-        <h2>
-          <img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 22.04
-        </h2>
-        <h3>
-          ROS 2 Iron
-        </h3>
-	<div class="bash-command">
-           <code>sudo apt install ros-iron-moveit</code>
-        </div>
-        <div class="horizontal-line"></div>
-        <h2>
-          Middleware
-        </h2>
-        <p>
-          We recommend CycloneDDS as a middleware. Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.
-          <code>sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp</code>
-          <code>export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp</code>
-          You may want to add `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp` to your ~/.bashrc to source it automatically.
-        </p>
-        <div class="horizontal-line"></div>
-        <h2>
-          Quick Start
-        </h2>
-        <p>
-          Start planning in Rviz with:
-        </p>
-        <a href="https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html" target="_blank">
-          <span class="link-with-background">
-            MoveIt 2 Getting Started Tutorial
-          </span>
-        </a>
-      </div>
-      <!-- ----------------------------------------------------------------- -->
-      <!-- ----------------------------------------------------------------- -->
-      <!-- ----------------------------------------------------------------- -->
-      <!-- ----------------------------------------------------------------- -->
       <div class="collapse" id="Jazzy" data-parent="#accordion">
         <h3>
           Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
diff --git a/install-moveit2/source/index.markdown b/install-moveit2/source/index.markdown
index 5b2f40ea..227dcbe9 100644
--- a/install-moveit2/source/index.markdown
+++ b/install-moveit2/source/index.markdown
@@ -14,13 +14,12 @@ 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 22.04 / ROS 2 Humble Hawksbill (LTS)
-- Ubuntu 22.04 / ROS 2 Iron Irwini (stable)
 - Ubuntu 24.04 / ROS 2 Jazzy Jalisco (Recommended LTS)
 - Ubuntu 24.04 / 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/moveit/moveit.ros.org).
 
-These instructions assume you are running on Ubuntu 24.04 (Jazzy, Rolling). However, the same build commands should apply to Humble and Iron builds on Ubuntu 22.04.
+These instructions assume you are running on Ubuntu 24.04 (Jazzy, Rolling). However, the same build commands should apply to Humble builds on Ubuntu 22.04.
 
 ## Prerequisites
 
@@ -28,8 +27,8 @@ These instructions assume you are running on Ubuntu 24.04 (Jazzy, Rolling). Howe
 
 Install ROS 2 [Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions.
 
-We recommend Jazzy as the latest and stable LTS distribution, or alternatively Rolling for continuous development including contributions to MoveIt 2. Currently the [main branch](https://github.com/moveit/moveit2) supports Rolling, Jazzy, Iron, and Humble (note that Iron and Humble will be phased out once incompatible, as we only ensure support for the latest LTS versions).
-However, since the main branch is used for development, the MoveIt API is not stable. For stable versions, please use the distro branches [humble](https://github.com/moveit/moveit2/tree/humble), or [iron](https://github.com/moveit/moveit2/tree/iron). A stable branch for Jazzy will be established soon as well.
+We recommend Jazzy as the latest and stable LTS distribution, or alternatively Rolling for continuous development including contributions to MoveIt 2. Currently the [main branch](https://github.com/moveit/moveit2) supports Rolling, Jazzy, and Humble (note that Humble will be phased out once incompatible, as we only ensure support for the latest LTS versions).
+However, since the main branch is used for development, the MoveIt API is not stable. For stable versions, please use the distro branches [humble](https://github.com/moveit/moveit2/tree/humble), or [jazzy](https://github.com/moveit/moveit2/tree/jazzy)
 
 MoveIt 2 source installation requires various other tools apart from what is already mentioned in the ROS 2 install docs.
 
@@ -72,13 +71,13 @@ Create a colcon workspace:
 
 Download the repository and install any dependencies. Issue the relevant commands for your ROS distribution.
 
-### Humble, Iron -stable
+### Humble, Jazzy -stable
 
     git clone https://github.com/moveit/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, Jazzy, Iron, Humble -unstable
+### Rolling, Jazzy, Humble -unstable
 
     git clone https://github.com/moveit/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