Add $ DDS-Implementations (backport #5355) (#5374)

Signed-off-by: Nils-Christian Iseke <[email protected]>
(cherry picked from commit 93a7d34)

Signed-off-by: Christophe Bedard <[email protected]>
Co-authored-by: Nils-Christian Iseke <[email protected]>
Co-authored-by: Christophe Bedard <[email protected]>

Author: 3 people

source/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.rst

@@ -20,9 +20,9 @@ Install packages
 
 The easiest way is to install from ROS 2 apt repository.
 
-.. code-block:: bash
+.. code-block:: console
 
-   sudo apt install ros-{DISTRO}-rmw-cyclonedds-cpp
+   $ sudo apt install ros-{DISTRO}-rmw-cyclonedds-cpp
 
 Build from source code
 ----------------------
@@ -31,33 +31,33 @@ Building from source code is also another way to install.
 
 First, clone Cyclone DDS and rmw_cyclonedds in the ROS 2 workspace source directory.
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ros2_ws/src
-   git clone https://github.com/ros2/rmw_cyclonedds ros2/rmw_cyclonedds -b {REPOS_FILE_BRANCH}
-   git clone https://github.com/eclipse-cyclonedds/cyclonedds eclipse-cyclonedds/cyclonedds
+   $ cd ros2_ws/src
+   $ git clone https://github.com/ros2/rmw_cyclonedds ros2/rmw_cyclonedds -b {REPOS_FILE_BRANCH}
+   $ git clone https://github.com/eclipse-cyclonedds/cyclonedds eclipse-cyclonedds/cyclonedds
 
 Then, install necessary packages for Cyclone DDS.
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ..
-   rosdep install --from src -i
+   $ cd ..
+   $ rosdep install --from src -i
 
 Finally, run colcon build.
 
-.. code-block:: bash
+.. code-block:: console
 
-   colcon build --symlink-install
+   $ colcon build --symlink-install
 
 Switch to rmw_cyclonedds
 ------------------------
 
 Switch from other rmw to rmw_cyclonedds by specifying the environment variable.
 
-.. code-block:: bash
+.. code-block:: console
 
-   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+   $ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
@@ -66,10 +66,10 @@ Run the talker and listener
 
 Now run ``talker`` and ``listener`` to test Cyclone DDS.
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp talker
+   $ ros2 run demo_nodes_cpp talker
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp listener
+   $ ros2 run demo_nodes_cpp listener

source/Installation/RMW-Implementations/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst

@@ -35,56 +35,56 @@ Installation
 Option 1: Install from the ROS 2 apt repository (Recommended)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. code-block:: bash
+.. code-block:: console
 
-   sudo apt install ros-{DISTRO}-rmw-gurumdds-cpp
+   $ sudo apt install ros-{DISTRO}-rmw-gurumdds-cpp
 
 This installs both ``rmw_gurumdds_cpp`` and ``gurumdds``.
 
 Option 2: Build from source code
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 1. Clone the repository
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ros2_ws/src
-   git clone https://github.com/ros2/rmw_gurumdds -b {DISTRO} ros2/rmw_gurumdds
+   $ cd ros2_ws/src
+   $ git clone https://github.com/ros2/rmw_gurumdds -b {DISTRO} ros2/rmw_gurumdds
 
 2. Install dependencies:
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ..
-   rosdep install --from src -i --rosdistro {DISTRO}
+   $ cd ..
+   $ rosdep install --from src -i --rosdistro {DISTRO}
 
 3. Build the workspace using Colcon:
 
-.. code-block:: bash
+.. code-block:: console
 
-   colcon build --symlink-install
+   $ colcon build --symlink-install
 
 
 Switch to rmw_gurumdds
 ----------------------
 Switch from other RMW implementations to rmw_gurumdds by setting the environment variable:
 
-.. code-block:: bash
+.. code-block:: console
 
-   export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
+   $ export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
 
 For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
 
 Testing the installation
 ------------------------
 Run the ``talker`` and ``listener`` nodes to verify your installation:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp talker
+   $ ros2 run demo_nodes_cpp talker
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp listener
+   $ ros2 run demo_nodes_cpp listener
 
 If the nodes communicate successfully, your installation is working correctly.
 

source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst

@@ -34,15 +34,15 @@ RTI Connext Pro is available through a variety of channels:
 
      .. group-tab:: v7.3.0
 
-        .. code-block:: bash
+        .. code-block:: console
 
-           sudo apt update && sudo apt install -q -y rti-connext-dds-7.3.0
+           $ sudo apt update && sudo apt install -q -y rti-connext-dds-7.3.0
 
      .. group-tab:: v6.0.1
 
         .. code-block:: console
 
-           sudo apt update && sudo apt install -q -y rti-connext-dds-6.0.1
+           $ sudo apt update && sudo apt install -q -y rti-connext-dds-6.0.1
 
   Note that this includes the RTI Connext libraries only, and does not include the full RTI Connext Pro suite of tools and services.
   Note also that the Connext libraries are automatically installed when installing ``rmw_connextdds`` using apt.
@@ -58,9 +58,9 @@ Install rmw_connextdds binary packages
 
 To install the binary packages for ``rmw_connextdds`` and the Connext libraries from the ROS 2 apt repositories, use the following command:
 
-.. code-block:: bash
+.. code-block:: console
 
-   sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds
+   $ sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds
 
 
 Building rmw_connextdds from source code
@@ -72,39 +72,39 @@ pages have instructions for building for other platforms and targets, including
 
 Clone the repository for ``rmw_connextdds`` into your ROS 2 workspace and select the branch that matches the ROS 2 distribution in use:
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ros2_ws/src
-   git clone https://github.com/ros2/rmw_connextdds -b {DISTRO}
+   $ cd ros2_ws/src
+   $ git clone https://github.com/ros2/rmw_connextdds -b {DISTRO}
 
 Set up the environment to help colcon discover where RTI Connext is installed.
 This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation:
 
-.. code-block:: bash
+.. code-block:: console
 
-   source ${RTI_CONNEXT_INSTALL_LOCATION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash
+   $ source ${RTI_CONNEXT_INSTALL_LOCATION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash
 
 Build the RMW using colcon:
 
-.. code-block:: bash
+.. code-block:: console
 
-   colcon build --symlink-install
+   $ colcon build --symlink-install
 
 After the build completes successfully, be sure to source the setup file for the workspace:
 
-.. code-block:: bash
+.. code-block:: console
 
-   source install/setup.bash
+   $ source install/setup.bash
 
 
 Use the resulting rmw_connextdds
 --------------------------------
 
 Set the environment variable ``RMW_IMPLEMENTATION`` to tell ROS 2 which RMW to use:
 
-.. code-block:: bash
+.. code-block:: console
 
-   export RMW_IMPLEMENTATION=rmw_connextdds
+   $ export RMW_IMPLEMENTATION=rmw_connextdds
 
 See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
@@ -113,11 +113,11 @@ Run the talker and listener
 
 Now run ``talker`` and ``listener`` to test RTI Connext DDS
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp talker
+   $ ros2 run demo_nodes_cpp talker
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp listener
+   $ ros2 run demo_nodes_cpp listener
 

source/Installation/RMW-Implementations/DDS-Implementations/Working-with-eProsima-Fast-DDS.rst

@@ -15,9 +15,9 @@ Install packages
 
 The easiest way is to install from ROS 2 apt repository.
 
-.. code-block:: bash
+.. code-block:: console
 
-   sudo apt install ros-{DISTRO}-rmw-fastrtps-cpp
+   $ sudo apt install ros-{DISTRO}-rmw-fastrtps-cpp
 
 Build from source code
 ----------------------
@@ -26,33 +26,33 @@ Building from source code is also another way to install.
 
 First, clone Fast DDS and rmw_fastrtps in the ROS 2 workspace source directory.
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ros2_ws/src
-   git clone https://github.com/ros2/rmw_fastrtps ros2/rmw_fastrtps -b {REPOS_FILE_BRANCH}
-   git clone https://github.com/eProsima/Fast-DDS eProsima/fastrtps
+   $ cd ros2_ws/src
+   $ git clone https://github.com/ros2/rmw_fastrtps ros2/rmw_fastrtps -b {REPOS_FILE_BRANCH}
+   $ git clone https://github.com/eProsima/Fast-DDS eProsima/fastrtps
 
 Then, install necessary packages for Fast DDS.
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ..
-   rosdep install --from src -i
+   $ cd ..
+   $ rosdep install --from src -i
 
 Finally, run colcon build.
 
-.. code-block:: bash
+.. code-block:: console
 
-   colcon build --symlink-install
+   $ colcon build --symlink-install
 
 Switch to rmw_fastrtps
 ----------------------
 
 The eProsima Fast DDS RMW can be selected by specifying the environment variable:
 
-.. code-block:: bash
+.. code-block:: console
 
-   export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+   $ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
@@ -61,11 +61,10 @@ Run the talker and listener
 
 Now run ``talker`` and ``listener`` to test Fast DDS.
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run demo_nodes_cpp talker
+   $ ros2 run demo_nodes_cpp talker
 
-.. code-block:: bash
-
-   ros2 run demo_nodes_cpp listener
+.. code-block:: console
 
+   $ ros2 run demo_nodes_cpp listener