Add $ to Beginner-CLI-Tools and Beginner-Client Libraires

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 <action_names>
+  $ ros2 bag record --action <action_names>
 
 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}]
   ---

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

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
 

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

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:
 

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

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
 ^^^^^^^^^^^^^^^^^^^^^^^^^

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:
 

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.