Add $ to How-To-Guides

source/How-To-Guides/Ament-CMake-Documentation.rst

@@ -628,11 +628,11 @@ A recommended best practice when defining environment hooks is to place them wit
 
 Inside your created ``hooks`` folder, create a ``my_package.sh.in`` as follows:
 
-.. code-block:: console
+.. code-block:: bash
 
-    $ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-    $ export RMW_FASTRTPS_USE_QOS_FROM_XML=1
-    $ export FASTRTPS_DEFAULT_PROFILES_FILE="$COLCON_CURRENT_PREFIX/my_dds_profile.xml"
+    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    export RMW_FASTRTPS_USE_QOS_FROM_XML=1
+    export FASTRTPS_DEFAULT_PROFILES_FILE="$COLCON_CURRENT_PREFIX/my_dds_profile.xml"
 
 In the same folder, create a ``my_package.dsv.in`` file as follows:
 

source/How-To-Guides/Building-a-Custom-Deb-Package.rst

@@ -23,7 +23,7 @@ Install dependencies
 
 Run the following command to install utilities needed for the build:
 
-.. code:: bash
+.. code:: console
 
   $ sudo apt install python3-bloom python3-rosdep fakeroot debhelper dh-python
 
@@ -32,7 +32,7 @@ Initialize rosdep
 
 Initialize the rosdep database by calling:
 
-.. code:: bash
+.. code:: console
 
   $ sudo rosdep init
   $ rosdep update
@@ -44,7 +44,7 @@ Build the deb from the package
 
 Run the following commands to build the deb:
 
-.. code:: bash
+.. code:: console
 
   $ cd /path/to/pkg_source  # this should be the directory that contains the package.xml
   $ bloom-generate rosdebian

source/How-To-Guides/Core-maintainer-guide.rst

@@ -106,7 +106,7 @@ A source release creates a changelog and a tag in the relevant repository.
 
 The process starts by generating or updating CHANGELOG.rst files with the following command:
 
-.. code-block:: bash
+.. code-block:: console
 
   $ catkin_generate_changelog
 
@@ -117,7 +117,7 @@ Once editing is done, it is important to commit the updated CHANGELOG.rst file t
 
 The next step is to bump the version in the package.xml and the changelog files with the following command:
 
-.. code-block:: bash
+.. code-block:: console
 
   $ catkin_prepare_release
 
@@ -136,13 +136,13 @@ The next step is to use the ``bloom-release`` command to create a binary release
 For full instructions on how to use bloom, please see http://wiki.ros.org/bloom.
 To do a binary release of a repository, run:
 
-.. code-block:: bash
+.. code-block:: console
 
   $ bloom-release --track <rosdistro> --rosdistro <rosdistro> <repository_name>
 
 For instance, to release the ``rclcpp`` repository to the {DISTRO_TITLE} distribution, the command would be:
 
-.. code-block:: bash
+.. code-block:: console
 
   $ bloom-release --track {DISTRO} --rosdistro {DISTRO} rclcpp
 

source/How-To-Guides/DDS-tuning.rst

@@ -71,20 +71,20 @@ Because of the increased serialization overhead, severe performance degradation
 **Workaround:** Use multiple arrays of primitives instead of a single array of custom types, or pack into byte array as done e.g. in ``PointCloud2`` messages.
 For example, instead of defining a ``FooArray`` message as:
 
-.. code-block:: console
+.. code-block:: bash
 
     Foo[] my_large_array
 
 with ``Foo`` is defined as:
 
-.. code-block:: console
+.. code-block:: bash
 
     uint64 foo_1
     uint32 foo_2
 
 Instead, define ``FooArray`` as:
 
-.. code-block:: console
+.. code-block:: bash
 
     uint64[] foo_1_array
     uint32[] foo_2_array
@@ -116,7 +116,7 @@ Set the maximum receive buffer size, ``rmem_max``, by running:
 
 Or permanently set it by editing the ``/etc/sysctl.d/10-cyclone-max.conf`` file to contain:
 
- .. code-block:: console
+ .. code-block:: bash
 
     net.core.rmem_max=2147483647
 
@@ -136,7 +136,7 @@ Next, to set the minimum socket receive buffer size that Cyclone requests, write
 
 Then, whenever you are going to run a node, set the following environment variable:
 
-.. code-block:: console
+.. code-block:: bash
 
     CYCLONEDDS_URI=file:///absolute/path/to/config_file.xml
 

source/How-To-Guides/Getting-Backtraces-in-ROS-2.rst

@@ -113,7 +113,7 @@ Once your program crashes, it will return a gdb session prompt denoted by ``(gdb
 At this prompt you can access the information you're interested in.
 However, since this is a ROS project with lots of node configurations and other things going on, this isn't a great option for beginners or those that don't like tons of commandline work and understanding the filesystem.
 
-.. code-block:: bash
+.. code-block:: console
 
   $ gdb ex run --args /path/to/exe/program
 
@@ -143,7 +143,7 @@ This is because GDB, when launched this way, lacks the environment setup that no
 Rather than having to revert to finding the install path of the executable and typing it all out, we can instead use ``--prefix``.
 This allows us to use the same ``ros2 run`` syntax you're used to without having to worry about some of the GDB details.
 
-.. code-block:: bash
+.. code-block:: console
 
   $ ros2 run --prefix 'gdb -ex run --args' <pkg> <node> --all-other-launch arguments
 

source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Package-Example.rst

@@ -20,7 +20,7 @@ This package is in a catkin workspace, located at ``~/ros1_talker``.
 
 Your ROS 1 workspace has the following directory layout:
 
-.. code-block:: bash
+.. code-block:: console
 
    $ cd ~/ros1_talker
    $ find .
@@ -104,7 +104,7 @@ Let's start by creating a new workspace in which to work:
 
 We'll copy the source tree from our ROS 1 package into that workspace, where we can modify it:
 
-.. code-block:: bash
+.. code-block:: console
 
    $ mkdir src
    $ cp -a ~/ros1_talker/src/talker src

source/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Package-Example.rst

@@ -34,13 +34,13 @@ First, create a folder at ``~/ros2_talker_py`` to be the root of the Colcon work
 
   .. group-tab:: macOS
 
-    .. code-block:: bash
+    .. code-block:: console
 
         $ mkdir -p ~/ros2_talker_py/src
 
   .. group-tab:: Windows
 
-    .. code-block:: bash
+    .. code-block:: console
 
         $ md \ros2_talker_py\src
 
@@ -76,7 +76,7 @@ Next, create the files for the ROS 1 package.
 
   .. group-tab:: Windows
 
-    .. code-block:: bash
+    .. code-block:: console
 
         $ cd \ros2_talker_py
         $ md src\talker_py\src\talker_py

source/How-To-Guides/Migrating-from-ROS1/Migrating-Scripts.rst

@@ -39,7 +39,7 @@ To change a node name use ``__node`` (the ROS 1 equivalent is ``__name``):
 Note the use of the ``-r`` flag.
 The same remap flag is needed for changing the namespace ``__ns``:
 
-.. code-block:: bash
+.. code-block:: console
 
    $ ros2 run some_package some_ros_executable --ros-args -r __ns:=/new/namespace
 

source/How-To-Guides/ROS-2-IDEs.rst

@@ -204,11 +204,11 @@ Resolve this by:
 
 * Making sure the ``PATH`` override in the run/debug configuration includes both the ROS 2 install and your workspace, e.g.:
 
-  .. code-block:: bash
+  .. code-block:: console
 
-     C:\dev\ros2_humble\local_setup.ps1
-     C:\dev_ws\install\local_setup.ps1
-     echo $ENV:Path
+     $ C:\dev\ros2_humble\local_setup.ps1
+     $ C:\dev_ws\install\local_setup.ps1
+     $ echo $ENV:Path
 
 * Adding the relevant folders from the ``install/`` directory to your project sources.
 

source/How-To-Guides/Releasing/First-Time-Release.rst

@@ -43,9 +43,9 @@ Generate Changelog
 
 Generate a ``CHANGELOG.rst`` file per package in your repo using the following command:
 
-.. code-block:: bash
+.. code-block:: console
 
-   catkin_generate_changelog --all
+   $ catkin_generate_changelog --all
 
 .. include:: _Clean-Up-Changelog.rst
 
@@ -59,9 +59,9 @@ Bloom Release
 
 Run the following command, replacing ``my_repo`` with the name of your repository:
 
-.. code-block:: bash
+.. code-block:: console
 
-  bloom-release --new-track --rosdistro {DISTRO} --track {DISTRO} my_repo
+  $ bloom-release --new-track --rosdistro {DISTRO} --track {DISTRO} my_repo
 
 .. tip::
 

source/How-To-Guides/Releasing/Subsequent-Releases.rst

@@ -48,7 +48,7 @@ Bloom Release
 
 Run the following command, replacing ``my_repo`` with the name of your repository with the packages:
 
-.. code-block:: bash
+.. code-block:: console
 
    $ bloom-release --rosdistro {DISTRO} my_repo
 

source/How-To-Guides/Releasing/_Bump-Package-Version.rst

@@ -1,9 +1,9 @@
 Every release of the package must have a unique version number higher than the previous release.
 Run:
 
-.. code-block:: bash
+.. code-block:: console
 
-   catkin_prepare_release
+   $ catkin_prepare_release
 
 which performs the following:
 

source/How-To-Guides/Releasing/_Install-Dependencies.rst

@@ -10,19 +10,19 @@ Install tools that you will use in the upcoming steps according to your platform
 
    .. group-tab:: RPM (e.g. RHEL)
 
-      .. code-block:: bash
+      .. code-block:: console
 
           $ sudo dnf install python3-bloom python3-catkin_pkg
 
    .. group-tab:: Other
 
-      .. code-block:: bash
+      .. code-block:: console
 
          $ pip3 install -U bloom catkin_pkg
 
 Make sure you have rosdep initialized:
 
-.. code-block:: bash
+.. code-block:: console
 
     $ sudo rosdep init
     $ rosdep update

source/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.rst

@@ -35,7 +35,7 @@ Now you can check if the installation was successful by running the following co
 
 .. code-block:: console
 
-    docker run hello-world
+    $ docker run hello-world
 
 You might need to start the Docker Daemon first, if you cannot run hello-world out of the box:
 

source/How-To-Guides/Working-with-multiple-RMW-implementations.rst

@@ -36,32 +36,48 @@ For example, to run the talker demo using the C++ talker and Python listener wit
 
   .. group-tab:: Linux
 
-    .. code-block:: bash
 
-       RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
+    Run in one terminal:
 
-       # Run in another terminal
-       RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_py listener
+    .. code-block:: console
+
+       $ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
+
+    Run in another terminal:
+
+    .. code-block:: console
+
+       $ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_py listener
 
   .. group-tab:: macOS
 
-    .. code-block:: bash
+    Run in one terminal:
+
+    .. code-block:: console
+
+       $ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
 
-       RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_cpp talker
+    Run in another terminal:
 
-       # Run in another terminal
-       RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_py listener
+    .. code-block:: console
+
+       $ RMW_IMPLEMENTATION=rmw_connextdds ros2 run demo_nodes_py listener
 
   .. group-tab:: Windows
 
-    .. code-block:: bat
+    Run in one terminal:
+
+    .. code-block:: console
+
+       $ set RMW_IMPLEMENTATION=rmw_connextdds
+       $ ros2 run demo_nodes_cpp talker
 
-       set RMW_IMPLEMENTATION=rmw_connextdds
-       ros2 run demo_nodes_cpp talker
+    Run in another terminal:
 
-       REM run in another terminal
-       set RMW_IMPLEMENTATION=rmw_connextdds
-       ros2 run demo_nodes_py listener
+    .. code-block:: console
+
+       $ set RMW_IMPLEMENTATION=rmw_connextdds
+       $ ros2 run demo_nodes_py listener
 
 Adding RMW implementations to your workspace
 --------------------------------------------
@@ -164,7 +180,7 @@ To increase the settings permanently, you will need to edit or create the file `
 Creating or editing this file will require root permissions.
 Either add to your existing ``etc/sysctl.conf`` file or create ``/etc/sysctl.conf`` with the following lines:
 
-.. code-block:: console
+.. code-block:: bash
 
    kern.sysv.shmmax=419430400
    kern.sysv.shmmin=1