diff --git a/source/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.rst b/source/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.rst index 182426fa24b..72d74b85c4e 100644 --- a/source/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.rst +++ b/source/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.rst @@ -67,22 +67,22 @@ Let's also make a new directory to store our saved recordings, just as good prac .. code-block:: console - mkdir bag_files - cd bag_files + $ mkdir bag_files + $ cd bag_files .. group-tab:: macOS .. code-block:: console - mkdir bag_files - cd bag_files + $ mkdir bag_files + $ cd bag_files .. group-tab:: Windows .. code-block:: console - md bag_files - cd bag_files + $ md bag_files + $ cd bag_files 2 Choose a topic @@ -441,15 +441,15 @@ You can see more details for :doc:`Action Introspection Demo <../../Demos/Action Open a new terminal and run ``fibonacci_action_server``, enabling ``Action Introspection``: -.. code-block:: bash +.. code-block:: console - ros2 run action_tutorials_py fibonacci_action_server --ros-args -p action_server_configure_introspection:=contents + $ ros2 run action_tutorials_py fibonacci_action_server --ros-args -p action_server_configure_introspection:=contents Open another terminal and run ``fibonacci_action_client``, enabling ``Action Introspection``: -.. code-block:: bash +.. code-block:: console - ros2 run action_tutorials_cpp fibonacci_action_client --ros-args -p action_client_configure_introspection:=contents + $ ros2 run action_tutorials_cpp fibonacci_action_client --ros-args -p action_client_configure_introspection:=contents 2 Check action availability ^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -488,15 +488,15 @@ Action data can be recorded with topics and services at the same time. To record specific actions: -.. code-block:: bash +.. code-block:: console - ros2 bag record --action + $ ros2 bag record --action To record all actions: -.. code-block:: bash +.. code-block:: console - ros2 bag record --all-actions + $ ros2 bag record --all-actions Run the command: @@ -594,16 +594,12 @@ This is because ``ros2 bag play`` sends the action goal request data from the ba We can also introspect action communication as ``ros2 bag play`` is playing it back to verify the ``fibonacci_action_server``. -Run this command before ``ros2 bag play`` to see the ``fibonacci_action_server``: - -.. code-block:: bash - - ros2 action echo --flow-style /fibonacci - -You can see the action goal request from the bag file and the service response from ``fibonacci_action_server``. +Run this command before ``ros2 bag play`` to see the ``fibonacci_action_server``. +You can see the action goal request from the bag file and the service response from ``fibonacci_action_server``: .. code-block:: console + $ ros2 action echo --flow-style /fibonacci interface: STATUS_TOPIC status_list: [{goal_info: {goal_id: {uuid: [34, 116, 225, 217, 48, 121, 146, 36, 240, 98, 99, 134, 55, 227, 184, 72]}, stamp: {sec: 1744953720, nanosec: 804984321}}, status: 4}] --- diff --git a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst index 4b9e9156ea2..4a80c211401 100644 --- a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst +++ b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst @@ -249,7 +249,7 @@ Enter the following command with the action type in your terminal: Which will return: -.. code-block:: console +.. code-block:: text # The desired heading in radians float32 theta diff --git a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst index 78f749e5e1b..15542dd9deb 100644 --- a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst +++ b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst @@ -77,16 +77,12 @@ You can find node names by using ``ros2 node list`` ``ros2 node list`` will show you the names of all running nodes. This is especially useful when you want to interact with a node, or when you have a system running many nodes and need to keep track of them. -Open a new terminal while turtlesim is still running in the other one, and enter the following command: - -.. code-block:: console - - $ ros2 node list - +Open a new terminal while turtlesim is still running in the other one, and enter the following command. The terminal will return the node name: .. code-block:: console + $ ros2 node list /turtlesim Open another new terminal and start the teleop node with the command: @@ -102,6 +98,7 @@ You will now see the names of two active nodes: .. code-block:: console + $ ros2 node list /turtlesim /teleop_turtle diff --git a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst index cae26f5dc5e..7c3b2d86c26 100644 --- a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst +++ b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst @@ -200,10 +200,11 @@ Specifically, what structure of data the message expects. $ ros2 interface show geometry_msgs/msg/Twist -.. code-block:: console +Which will return: - # This expresses velocity in free space broken into its linear and angular parts. +.. code-block:: text + # This expresses velocity in free space broken into its linear and angular parts. Vector3 linear float64 x float64 y diff --git a/source/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst b/source/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst index 6406be62f52..2ff4b5ceea3 100644 --- a/source/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst +++ b/source/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst @@ -87,13 +87,11 @@ Press ``Ctrl+C`` in the terminal where you ran the ``ros2 topic pub`` command to ROS 2's logger levels are ordered by severity: -.. code-block:: console - - Fatal - Error - Warn - Info - Debug + 1. Fatal + 2. Error + 3. Warn + 4. Info + 5. Debug There is no exact standard for what each level indicates, but it's safe to assume that: diff --git a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst index 384a8f5f3e3..94219b943e6 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst @@ -257,6 +257,8 @@ These files will add all of the required elements to your path and library paths .. group-tab:: Windows + In a Windows command line interface: + .. code-block:: console $ call install\setup.bat diff --git a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst index cb9570e964a..966175ed95a 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst @@ -188,49 +188,31 @@ In a new terminal, run the following command from within your workspace (``ros2_ $ call install/setup.bat -Now you can confirm that your interface creation worked by using the ``ros2 interface show`` command: +Now you can confirm that your interface creation worked by using the ``ros2 interface show`` command. +The output you see in your terminal should look similar to the following: .. code-block:: console $ ros2 interface show tutorial_interfaces/msg/Num - -should return: - -.. code-block:: bash - - int64 num - -And + int64 num .. code-block:: console $ ros2 interface show tutorial_interfaces/msg/Sphere - -should return: - -.. code-block:: console - - geometry_msgs/Point center - float64 x - float64 y - float64 z - float64 radius - -And + geometry_msgs/Point center + float64 x + float64 y + float64 z + float64 radius .. code-block:: console $ ros2 interface show tutorial_interfaces/srv/AddThreeInts - -should return: - -.. code-block:: bash - - int64 a - int64 b - int64 c - --- - int64 sum + int64 a + int64 b + int64 c + --- + int64 sum 7 Test the new interfaces ^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/source/Tutorials/Beginner-Client-Libraries/Pluginlib.rst b/source/Tutorials/Beginner-Client-Libraries/Pluginlib.rst index 931dc8b5585..0e8d2b754d6 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Pluginlib.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Pluginlib.rst @@ -276,7 +276,7 @@ Navigate back to the root of your workspace, ``ros2_ws``, and build your new pac .. code-block:: console - colcon build --packages-select polygon_base polygon_plugins + $ colcon build --packages-select polygon_base polygon_plugins From ``ros2_ws``, be sure to source the setup files: diff --git a/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.rst b/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.rst index f78b22669f2..c5d5e2577df 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.rst @@ -45,7 +45,7 @@ Navigate into ``ros2_ws/src`` and create a new package: .. code-block:: console - ros2 pkg create --build-type ament_cmake --license Apache-2.0 cpp_parameters --dependencies rclcpp + $ ros2 pkg create --build-type ament_cmake --license Apache-2.0 cpp_parameters --dependencies rclcpp Your terminal will return a message verifying the creation of your package ``cpp_parameters`` and all its necessary files and folders.