diff --git a/source/Concepts/Intermediate/About-Executors.rst b/source/Concepts/Intermediate/About-Executors.rst index 72e3e1532da..d055351956c 100644 --- a/source/Concepts/Intermediate/About-Executors.rst +++ b/source/Concepts/Intermediate/About-Executors.rst @@ -114,7 +114,7 @@ Callback groups ROS 2 allows organizing the callbacks of a node in groups. In rclcpp, such a *callback group* can be created by the ``create_callback_group`` function of the Node class. In rclpy, the same is done by calling the constructor of the specific callback group type. -The callback group must be stored throughout execution of the node (eg. as a class member), or otherwise the executor won't be able to trigger the callbacks. +The callback group must be stored throughout execution of the node (e.g. as a class member), or otherwise the executor won't be able to trigger the callbacks. Then, this callback group can be specified when creating a subscription, timer, etc. - for example by the subscription options: .. tabs:: diff --git a/source/How-To-Guides/Releasing/Release-Track.rst b/source/How-To-Guides/Releasing/Release-Track.rst index f8793d465fa..491ca12b6c3 100644 --- a/source/How-To-Guides/Releasing/Release-Track.rst +++ b/source/How-To-Guides/Releasing/Release-Track.rst @@ -63,7 +63,7 @@ The repository name is trivial, but it is recommended to set this to the name of Name of the repository (used in the archive name) ['upstream']: -Type the name of your project (eg. ``my_project``) and press Enter. +Type the name of your project (e.g. ``my_project``) and press Enter. .. _upstream-repository-uri: @@ -82,7 +82,7 @@ This is most likely an https link to your project hosted on a git hosting servic where the :{version} token will be replaced with the version for this release. [None]: -Make sure you **use the https address** (eg. ``https://github.com/my_organization/my_repo.git``) and not the ssh address. +Make sure you **use the https address** (e.g. ``https://github.com/my_organization/my_repo.git``) and not the ssh address. .. _upstream-vcs-type: @@ -112,7 +112,7 @@ Most repositories will be using git, but some legacy repositories might be using Version ^^^^^^^ -This is the version of the package you are releasing. (eg. ``1.0.3``) +This is the version of the package you are releasing. (e.g. ``1.0.3``) .. code-block:: bash diff --git a/source/How-To-Guides/Releasing/_Bump-Package-Version.rst b/source/How-To-Guides/Releasing/_Bump-Package-Version.rst index 4dcea5a2b5e..4652d104d5b 100644 --- a/source/How-To-Guides/Releasing/_Bump-Package-Version.rst +++ b/source/How-To-Guides/Releasing/_Bump-Package-Version.rst @@ -8,9 +8,9 @@ Run: which performs the following: #. increases the package version in ``package.xml`` -#. replaces the heading ``Forthcoming`` with ``version (date)`` (eg. ``0.0.1 (2022-01-08)``) in ``CHANGELOG.rst`` +#. replaces the heading ``Forthcoming`` with ``version (date)`` (e.g. ``0.0.1 (2022-01-08)``) in ``CHANGELOG.rst`` #. commits those changes -#. creates a tag (eg. ``0.0.1``) +#. creates a tag (e.g. ``0.0.1``) #. pushes the changes and the tag to your remote repository .. note:: diff --git a/source/How-To-Guides/Releasing/_Install-Dependencies.rst b/source/How-To-Guides/Releasing/_Install-Dependencies.rst index 2dc2531f1f3..1c368924beb 100644 --- a/source/How-To-Guides/Releasing/_Install-Dependencies.rst +++ b/source/How-To-Guides/Releasing/_Install-Dependencies.rst @@ -2,13 +2,13 @@ Install tools that you will use in the upcoming steps according to your platform .. tabs:: - .. group-tab:: deb (eg. Ubuntu) + .. group-tab:: deb (e.g. Ubuntu) .. code-block:: bash sudo apt install python3-bloom python3-catkin-pkg - .. group-tab:: RPM (eg. RHEL) + .. group-tab:: RPM (e.g. RHEL) .. code-block:: bash diff --git a/source/The-ROS2-Project/Contributing/Build-Farms.rst b/source/The-ROS2-Project/Contributing/Build-Farms.rst index 4f27b2c65b5..40485dba565 100644 --- a/source/The-ROS2-Project/Contributing/Build-Farms.rst +++ b/source/The-ROS2-Project/Contributing/Build-Farms.rst @@ -82,7 +82,7 @@ Execution of the jobs depends on the type of the job: Frequency Asked Questions (FAQ) and Troubleshooting --------------------------------------------------- -#. **I get Jenkins mails from failing build farm jobs. What do I do?** +#. **I get Jenkins mails from failing build farm jobs; What do I do?** Go to the job that raised the issue. You find the link on top of the Jenkins email. diff --git a/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst b/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst index 71de195ffef..9df86824617 100644 --- a/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst +++ b/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst @@ -76,11 +76,11 @@ Line Length File Extensions ~~~~~~~~~~~~~~~ -* Header files should use the .hpp extension. +* Header files should use the ``.hpp`` extension. * rationale: Allow tools to determine content of files, C++ or C. -* Implementation files should use the .cpp extension. +* Implementation files should use the ``.cpp`` extension. * rationale: Allow tools to determine content of files, C++ or C. @@ -345,10 +345,10 @@ The pycodestyle configuration used in the linter is `here `_ +* `emacs `_ +* `Sublime Text `_ +* `vim `_ CMake ----- diff --git a/source/The-ROS2-Project/Contributing/Developer-Guide.rst b/source/The-ROS2-Project/Contributing/Developer-Guide.rst index 8b90556e6fd..7a31f1e609a 100644 --- a/source/The-ROS2-Project/Contributing/Developer-Guide.rst +++ b/source/The-ROS2-Project/Contributing/Developer-Guide.rst @@ -198,11 +198,11 @@ This might include workflows for testing the code using something like ``python Examples: -* capabilities: https://docs.ros.org/hydro/api/capabilities/html/ +* `capabilities `_ * This one gives an example of docs which describe the public API -* catkin_tools: https://catkin-tools.readthedocs.org/en/latest/development/extending_the_catkin_command.html +* `catkin_tools `_ * This is an example of describing an extension point for a package @@ -897,7 +897,7 @@ Capture the lcov results with a similar command this time dropping the ``--initi lcov --no-external --capture --directory . --output-file ~/ros2.info -Combine the trace .info files: +Combine the trace ``.info`` files: .. code-block:: bash diff --git a/source/The-ROS2-Project/Feature-Ideas.rst b/source/The-ROS2-Project/Feature-Ideas.rst index 3a8b148a806..654abb39bc1 100644 --- a/source/The-ROS2-Project/Feature-Ideas.rst +++ b/source/The-ROS2-Project/Feature-Ideas.rst @@ -136,9 +136,9 @@ The trailing stars indicate the rough effort: 1 star for small, 2 stars for medi * Key storage security (right now, keys are just stored in the filesystem) [\*\*] * More user friendly interface (make it easier to specify security config). Maybe a Qt GUI? - This GUI could also assist in distributing keys somehow. [\*\*\*] - * A way to say "please secure this running system" with some UI that would auto-generate keys and policies for everything that is currently running. [\*\*\*] - * If there are hardware-specific features for securing keys or accelerating encryption/signing messages, that could be interesting to add to DDS/RTPS implementations that don't use it already. [\*\*\*] + This GUI could also assist in distributing keys somehow [\*\*\*] + * A way to say "please secure this running system" with some UI that would auto-generate keys and policies for everything that is currently running [\*\*\*] + * If there are hardware-specific features for securing keys or accelerating encryption/signing messages, that could be interesting to add to DDS/RTPS implementations that don't use it already [\*\*\*] Reducing Technical Debt ----------------------- diff --git a/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst b/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst index 79376086ffa..4e60424052f 100644 --- a/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst +++ b/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst @@ -246,7 +246,7 @@ ROS 2 offers support for the TLSF (Two Level Segregate Fit) allocator, which was https://github.com/ros2/realtime_support/tree/{REPOS_FILE_BRANCH}/tlsf_cpp -For more information about TLSF, see http://www.gii.upv.es/tlsf/ +For more information about TLSF, see `this page via Universitat Politècnica de València `_. Note that the TLSF allocator is licensed under a dual-GPL/LGPL license. diff --git a/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst b/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst index cbf850f6d31..d68ef7d56d7 100644 --- a/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst +++ b/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst @@ -46,7 +46,7 @@ It is also possible to install it from sources. Install UTM on your macOS machine. The link can be found on the `official UTM website `_. -Download the .iso image of `Ubuntu 22.04 `_ for Humble and Rolling or `Ubuntu 20.04 `_ for Foxy. +Download the ``.iso`` image of `Ubuntu 22.04 `_ for Humble and Rolling or `Ubuntu 20.04 `_ for Foxy. Be sure to download the image corresponding to your CPU architecture. In the UTM software: diff --git a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst index 06a9efe9188..39933287e21 100644 --- a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst +++ b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst @@ -96,7 +96,7 @@ Here is an example to import a simple Robot named ``imported_robot``: ros2 service call /Ros2Supervisor/spawn_node_from_string webots_ros2_msgs/srv/SpawnNodeFromString "data: Robot { name \"imported_robot\" }" .. note:: - If you try to import some PROTOs in the node string, their respective URLs must be declared in the .wbt world file as EXTERNPROTO or as IMPORTABLE EXTERNPROTO. + If you try to import some PROTOs in the node string, their respective URLs must be declared in the ``.wbt`` world file as EXTERNPROTO or as IMPORTABLE EXTERNPROTO. .. _Remove a Webots imported node: diff --git a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst index 1e94a073900..ef7bf5e2b01 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst @@ -149,7 +149,7 @@ Source an underlay ^^^^^^^^^^^^^^^^^^ It is important that we have sourced the environment for an existing ROS 2 installation that will provide our workspace with the necessary build dependencies for the example packages. -This is achieved by sourcing the setup script provided by a binary installation or a source installation, ie. another colcon workspace (see :doc:`Installation <../../Installation>`). +This is achieved by sourcing the setup script provided by a binary installation or a source installation, i.e. another colcon workspace (see :doc:`Installation <../../Installation>`). We call this environment an **underlay**. Our workspace, ``ros2_ws``, will be an **overlay** on top of the existing ROS 2 installation. diff --git a/source/Tutorials/Demos/Quality-of-Service.rst b/source/Tutorials/Demos/Quality-of-Service.rst index 8d2ade34a49..48eb0b32308 100644 --- a/source/Tutorials/Demos/Quality-of-Service.rst +++ b/source/Tutorials/Demos/Quality-of-Service.rst @@ -159,9 +159,9 @@ Add network traffic This next section is Linux-specific. - However, for macOS and Windows you can achieve a similar effect with the utilities "Network Link Conditioner" (part of the xcode tool suite) and "Clumsy" (http://jagt.github.io/clumsy/index.html), respectively, but they will not be covered in this tutorial. + However, for macOS and Windows you can achieve a similar effect with the utilities "Network Link Conditioner" (part of the xcode tool suite) and `"Clumsy" `_, respectively, but they will not be covered in this tutorial. -We are going to use the Linux network traffic control utility, ``tc`` (http://linux.die.net/man/8/tc). +We are going to use the Linux network traffic control utility, ``tc`` (`man page `_) . .. code-block:: bash diff --git a/source/Tutorials/Demos/dummy-robot-demo.rst b/source/Tutorials/Demos/dummy-robot-demo.rst index 208f2cc33c1..f424726daf5 100644 --- a/source/Tutorials/Demos/dummy-robot-demo.rst +++ b/source/Tutorials/Demos/dummy-robot-demo.rst @@ -20,17 +20,21 @@ To start the demo, we execute the demo bringup launch file, which we are going t .. group-tab:: Source Build - mkdir -p ~/ros2_ws/src - cd ~/ros2_ws/src - git clone -b ${ROS_DISTRO} https://github.com/ros2/demos - cd .. && colcon build --packages-up-to dummy_robot_bringup - source ~/ros2_ws/install/setup.bash - ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py + .. code-block:: bash + + mkdir -p ~/ros2_ws/src + cd ~/ros2_ws/src + git clone -b ${ROS_DISTRO} https://github.com/ros2/demos + cd .. && colcon build --packages-up-to dummy_robot_bringup + source ~/ros2_ws/install/setup.bash + ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py .. group-tab:: deb Package - sudo apt install ros-${ROS_DISTRO}-dummy-robot-bringup - ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py + .. code-block:: bash + + sudo apt install ros-${ROS_DISTRO}-dummy-robot-bringup + ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py You should see some prints inside your terminal along the lines of the following: diff --git a/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst b/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst index 654fea47784..6419c0a9354 100644 --- a/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst +++ b/source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst @@ -235,7 +235,7 @@ Now run the node: ros2 run cpp_parameter_event_handler parameter_event_handler The node is now active and has a single parameter and will print a message whenever this parameter is updated. -To test this, open up another terminal and source the ROS setup file as before (. install/setup.bash) and execute the following command: +To test this, open up another terminal and source the ROS setup file as before (``. install/setup.bash``) and execute the following command: .. code-block:: console diff --git a/source/Tutorials/Intermediate/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.rst b/source/Tutorials/Intermediate/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.rst index 0064c8e7944..06d21450700 100644 --- a/source/Tutorials/Intermediate/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.rst +++ b/source/Tutorials/Intermediate/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.rst @@ -54,9 +54,9 @@ Here is the code for our new base link. In many cases, you’ll want the collision geometry and origin to be exactly the same as the visual geometry and origin. However, there are two main cases where you wouldn’t: - * **Quicker Processing**. Doing collision detection for two meshes is a lot more computational complex than for two simple geometries. + * **Quicker Processing** Doing collision detection for two meshes is a lot more computational complex than for two simple geometries. Hence, you may want to replace the meshes with simpler geometries in the collision element. - * **Safe Zones**. You may want to restrict movement close to sensitive equipment. + * **Safe Zones** You may want to restrict movement close to sensitive equipment. For instance, if we didn’t want anything to collide with R2D2’s head, we might define the collision geometry to be a cylinder encasing his head to prevent anything from getting too close to his head. Physical Properties diff --git a/source/Tutorials/Intermediate/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.rst b/source/Tutorials/Intermediate/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.rst index 73ab6718e87..0d52484a647 100644 --- a/source/Tutorials/Intermediate/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.rst +++ b/source/Tutorials/Intermediate/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.rst @@ -187,7 +187,7 @@ We also rotate the leg so it is upright. * The launch file runs packages that will create TF frames for each link in your model based on your URDF. Rviz uses this information to figure out where to display each shape. * If a TF frame does not exist for a given URDF link, then it will be placed at the origin in white - (ref. `related question `_). + (`related question `_). Material Girl ------------- diff --git a/source/Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst b/source/Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst index 14dfe38027e..b1b7dc612fe 100644 --- a/source/Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst +++ b/source/Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst @@ -10,7 +10,7 @@ This tutorial begins with a clean Ubuntu 20.04.1 install on Intel x86_64. Actual kernel is 5.4.0-54-generic, but we will install the Latest Stable RT_PREEMPT Version. To build the kernel you need at least 30GB free disk space. -Check https://wiki.linuxfoundation.org/realtime/start for the latest stable version, at the time of writing this is "Latest Stable Version 5.4-rt". +Check `this wiki `_ for the latest stable version, at the time of writing this is "Latest Stable Version 5.4-rt". If we click on the `link `_, we get the exact version. Currently it is patch-5.4.78-rt44.patch.gz. @@ -28,7 +28,7 @@ and switch into it with cd ~/kernel -We can go with a browser to https://mirrors.edge.kernel.org/pub/linux/kernel/v5.x/ and see if the version is there. +We can go with a browser to `this page `_ and see if the version is there. You can download it from the site and move it manually from /Downloads to the /kernel folder, or download it using wget by right clicking the link using "copy link location". Example: @@ -42,7 +42,7 @@ unpack it with tar -xzf linux-5.4.78.tar.gz -download rt_preempt patch matching the Kernel version we just downloaded over at http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/ +download rt_preempt patch matching the Kernel version we just downloaded over at `kernel.org `_ .. code-block:: bash diff --git a/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst b/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst index 127b560e46e..34c959d20ee 100644 --- a/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst +++ b/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst @@ -226,7 +226,7 @@ Here, I used *ros2nasr*. IBM cloud has a lot of shortcuts that would help us get our container onto the cloud right away. The command below builds the container and tags it with the name **ros2foxy** and the version of **1**. Make sure you use the correct registry name you created and you are free to change the container name as you wish. -The **.** at the end indicates that the *Dockerfile* is in the current directory (and it is important), if not, +The ``.`` at the end indicates that the *Dockerfile* is in the current directory (and it is important), if not, change it to point to the directory containing the Dockerfile. .. code-block:: bash diff --git a/source/Tutorials/Miscellaneous/Eclipse-Oxygen-with-ROS-2-and-rviz2.rst b/source/Tutorials/Miscellaneous/Eclipse-Oxygen-with-ROS-2-and-rviz2.rst index bb57c5d5db7..ff54262c528 100644 --- a/source/Tutorials/Miscellaneous/Eclipse-Oxygen-with-ROS-2-and-rviz2.rst +++ b/source/Tutorials/Miscellaneous/Eclipse-Oxygen-with-ROS-2-and-rviz2.rst @@ -13,7 +13,7 @@ Using Eclipse Oxygen with ``rviz2`` [community-contributed] Setup ----- -This tutorial assumes Eclipse Oxygen, git, and Egit (http://www.eclipse.org/egit/download/) are already installed. +This tutorial assumes Eclipse Oxygen, git, and `Egit `_ are already installed. Throughout the tutorial we name the eclipse workspace the same name as the ros2 package, but this is not required.