From db2d9ba8cb953eb17e96f47992acd00182db0938 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Fri, 25 Apr 2025 14:18:43 +0200 Subject: [PATCH 01/11] Add $ Signed-off-by: Nils-Christian Iseke --- .../Recording-And-Playing-Back-Data.rst | 38 +++++++++---------- .../Understanding-ROS2-Actions.rst | 8 ---- .../Understanding-ROS2-Nodes.rst | 6 +-- .../Understanding-ROS2-Topics.rst | 23 +++++------ .../Using-Rqt-Console/Using-Rqt-Console.rst | 11 +++--- .../Colcon-Tutorial.rst | 2 + .../Custom-ROS2-Interfaces.rst | 22 +---------- .../Beginner-Client-Libraries/Pluginlib.rst | 2 +- .../Using-Parameters-In-A-Class-CPP.rst | 2 +- 9 files changed, 39 insertions(+), 75 deletions(-) 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..07482df85af 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 @@ -246,18 +246,10 @@ Enter the following command with the action type in your terminal: .. code-block:: console $ ros2 interface show turtlesim_msgs/action/RotateAbsolute - -Which will return: - -.. code-block:: console - - # The desired heading in radians float32 theta --- - # The angular displacement in radians to the starting position float32 delta --- - # The remaining rotation in radians float32 remaining The section of this message above the first ``---`` is the structure (data type and name) of the goal request. 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..9ff7d18987c 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 @@ -82,11 +82,6 @@ Open a new terminal while turtlesim is still running in the other one, and enter .. code-block:: console $ ros2 node list - -The terminal will return the node name: - -.. code-block:: console - /turtlesim Open another new terminal and start the teleop node with the command: @@ -102,6 +97,7 @@ 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..fa8016d1c60 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 @@ -199,19 +199,16 @@ Specifically, what structure of data the message expects. .. code-block:: console $ ros2 interface show geometry_msgs/msg/Twist + Vector3 linear + float64 x + float64 y + float64 z + Vector3 angular + float64 x + float64 y + float64 z -.. code-block:: console - - # This expresses velocity in free space broken into its linear and angular parts. - - Vector3 linear - float64 x - float64 y - float64 z - Vector3 angular - float64 x - float64 y - float64 z +This expresses velocity in free space broken into its linear and angular parts. This tells you that the ``/turtlesim`` node is expecting a message with two vectors, ``linear`` and ``angular``, of three elements each. If you recall the data we saw ``/teleop_turtle`` passing to ``/turtlesim`` with the ``echo`` command, it's in the same structure: @@ -316,7 +313,7 @@ c. **Using autocomplete**: .. code-block:: bash - ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist 'linear: + $ ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist 'linear: x: 0.0 y: 0.0 z: 0.0 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..28c7ae583b4 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 +87,12 @@ 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..56ea212ce30 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst @@ -256,6 +256,8 @@ These files will add all of the required elements to your path and library paths $ . install/setup.bash .. group-tab:: Windows + + In a Windows command line interface: .. code-block:: console diff --git a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst index cb9570e964a..56c09ce878a 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst @@ -188,44 +188,26 @@ 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 - .. 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 - .. code-block:: console $ ros2 interface show tutorial_interfaces/srv/AddThreeInts - -should return: - -.. code-block:: bash - int64 a int64 b int64 c 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. From 022d12716d49e6a9007c7dd2f5031552ee7cfb86 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Fri, 25 Apr 2025 18:16:38 +0200 Subject: [PATCH 02/11] fix Signed-off-by: Nils-Christian Iseke --- source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst | 2 +- .../Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst index 56ea212ce30..94219b943e6 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst @@ -256,7 +256,7 @@ These files will add all of the required elements to your path and library paths $ . install/setup.bash .. group-tab:: Windows - + In a Windows command line interface: .. code-block:: console diff --git a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst index 56c09ce878a..4a4eacf495d 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst @@ -188,7 +188,7 @@ 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 From f0c4541ff555ae6763d78d2eee4ccdbc10f5aa06 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Date: Sun, 27 Apr 2025 13:37:57 +0200 Subject: [PATCH 03/11] Apply suggestions from code review Co-authored-by: Christophe Bedard Signed-off-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> --- .../Custom-ROS2-Interfaces.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst index 4a4eacf495d..3f115d16e8f 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst @@ -194,16 +194,16 @@ The output you see in your terminal should look similar to the following: .. code-block:: console $ ros2 interface show tutorial_interfaces/msg/Num - int64 num + int64 num .. code-block:: console $ ros2 interface show tutorial_interfaces/msg/Sphere - geometry_msgs/Point center - float64 x - float64 y - float64 z - float64 radius + geometry_msgs/Point center + float64 x + float64 y + float64 z + float64 radius .. code-block:: console From bf97bff306ffa00a5922d50fb22fc0453bb2b02b Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Date: Sun, 27 Apr 2025 13:40:00 +0200 Subject: [PATCH 04/11] Apply suggestions from code review Co-authored-by: Christophe Bedard Signed-off-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> --- .../Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 fa8016d1c60..a1990a7a221 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 @@ -311,7 +311,7 @@ c. **Using autocomplete**: The final autocompleted string will look like this: - .. code-block:: bash + .. code-block:: console $ ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist 'linear: x: 0.0 From 365d10e29908eba06d94bb07658ce06f59c375dd Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Sun, 27 Apr 2025 13:47:10 +0200 Subject: [PATCH 05/11] review Signed-off-by: Nils-Christian Iseke --- .../Understanding-ROS2-Actions.rst | 7 ++++++ .../Understanding-ROS2-Topics.rst | 22 ++++++++++++------- .../Custom-ROS2-Interfaces.rst | 10 ++++----- 3 files changed, 26 insertions(+), 13 deletions(-) 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 07482df85af..3b01c647719 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 @@ -246,10 +246,17 @@ Enter the following command with the action type in your terminal: .. code-block:: console $ ros2 interface show turtlesim_msgs/action/RotateAbsolute + +Which will return: + +.. code-block:: text + # The desired heading in radians float32 theta --- + # The angular displacement in radians to the starting position float32 delta --- + # The remaining rotation in radians float32 remaining The section of this message above the first ``---`` is the structure (data type and name) of the goal request. 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 a1990a7a221..98683dc7712 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 @@ -199,14 +199,20 @@ Specifically, what structure of data the message expects. .. code-block:: console $ ros2 interface show geometry_msgs/msg/Twist - Vector3 linear - float64 x - float64 y - float64 z - Vector3 angular - float64 x - float64 y - float64 z + +Which will return: + +.. code-block:: text + + # This expresses velocity in free space broken into its linear and angular parts. + Vector3 linear + float64 x + float64 y + float64 z + Vector3 angular + float64 x + float64 y + float64 z This expresses velocity in free space broken into its linear and angular parts. diff --git a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst index 3f115d16e8f..966175ed95a 100644 --- a/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst +++ b/source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst @@ -208,11 +208,11 @@ The output you see in your terminal should look similar to the following: .. code-block:: console $ ros2 interface show tutorial_interfaces/srv/AddThreeInts - int64 a - int64 b - int64 c - --- - int64 sum + int64 a + int64 b + int64 c + --- + int64 sum 7 Test the new interfaces ^^^^^^^^^^^^^^^^^^^^^^^^^ From 7db0aba08e009dccfbc043fae00c90e4d7d8ab02 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Sun, 27 Apr 2025 13:49:34 +0200 Subject: [PATCH 06/11] fix Signed-off-by: Nils-Christian Iseke --- .../Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst | 1 + 1 file changed, 1 insertion(+) 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 3b01c647719..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 @@ -250,6 +250,7 @@ Enter the following command with the action type in your terminal: Which will return: .. code-block:: text + # The desired heading in radians float32 theta --- From a6dccba7b08240d7a2018d5d8ede444de9bab1c4 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Sun, 27 Apr 2025 13:52:04 +0200 Subject: [PATCH 07/11] fix --- .../Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 98683dc7712..5c9a09ee2ab 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 @@ -199,7 +199,7 @@ Specifically, what structure of data the message expects. .. code-block:: console $ ros2 interface show geometry_msgs/msg/Twist - + Which will return: .. code-block:: text @@ -212,7 +212,7 @@ Which will return: Vector3 angular float64 x float64 y - float64 z + float64 z This expresses velocity in free space broken into its linear and angular parts. From 999f3afbddcb1f30e62cea1d43ce59ca961cc733 Mon Sep 17 00:00:00 2001 From: Nils-Christian Iseke Date: Sun, 27 Apr 2025 14:08:27 +0200 Subject: [PATCH 08/11] fix --- .../Understanding-ROS2-Topics.rst | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) 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 5c9a09ee2ab..6518c3210b2 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 @@ -317,17 +317,16 @@ c. **Using autocomplete**: The final autocompleted string will look like this: - .. code-block:: console + .. code-block:: bash - $ ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist 'linear: + ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist 'linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 - z: 0.0 - ' + z: 0.0' This string is editable and you can change the values of the message type as required. From 5adac6667186160efc9ceb3b2298b29b2da3f669 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Sun, 27 Apr 2025 09:27:48 -0700 Subject: [PATCH 09/11] Apply suggestions from code review Signed-off-by: Christophe Bedard --- .../Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) 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 6518c3210b2..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 @@ -214,8 +214,6 @@ Which will return: float64 y float64 z -This expresses velocity in free space broken into its linear and angular parts. - This tells you that the ``/turtlesim`` node is expecting a message with two vectors, ``linear`` and ``angular``, of three elements each. If you recall the data we saw ``/teleop_turtle`` passing to ``/turtlesim`` with the ``echo`` command, it's in the same structure: @@ -326,7 +324,8 @@ c. **Using autocomplete**: angular: x: 0.0 y: 0.0 - z: 0.0' + z: 0.0 + ' This string is editable and you can change the values of the message type as required. From 36c932df4ef95fe8b51bec79e9196bcdd0c28504 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Sun, 27 Apr 2025 09:30:20 -0700 Subject: [PATCH 10/11] Update source/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst Signed-off-by: Christophe Bedard --- .../Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.rst | 1 - 1 file changed, 1 deletion(-) 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 28c7ae583b4..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 @@ -87,7 +87,6 @@ Press ``Ctrl+C`` in the terminal where you ran the ``ros2 topic pub`` command to ROS 2's logger levels are ordered by severity: - 1. Fatal 2. Error 3. Warn From ea49094c0dcfc68b238d1612009ffd0af3fe2cf0 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Sun, 27 Apr 2025 09:31:40 -0700 Subject: [PATCH 11/11] Keep description of output Signed-off-by: Christophe Bedard --- .../Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 9ff7d18987c..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 @@ -77,7 +77,8 @@ 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: +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