Although the Packing slip batch job (Sales and marketing -> Periodic -> Sales update) can be used in combination with Sales orders picked using WHS, there are some scenarios it does not support:

1. The periodic job can post packing slips for picked lines, even if the shipment has not been Confirmed.
2. If a single sales order is picked simultaneously across multiple shipments, the periodic job can combine lines for different shipments on to the same packing slip.
3. If a single shipment is picked across several instances of work, the periodic job can create separate packing slips for items on the same shipment.

Note - In Nov 2016, this was opened and set in the feature backlog for future releases:
Deliverable 3799995:[Gap] Periodic transfer order shipment/sales order packing slip update based on load/shipment