Add $

Author: Nils-ChristianIseke

source/Tutorials/Demos/Action-Introspection.rst

@@ -83,19 +83,28 @@ If you want to try the C++ version, you can find the source code here: `fibonacc
 Action introspection is disabled by default, so users need to enable it with ``action_server_configure_introspection`` parameter when the server starts up.
 In this demo, ``FibonacciActionServer`` enables action introspection when the value of the ``action_server_configure_introspection`` parameter is ``contents``.
 
-.. 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
 
 To change action introspection state, we need to set the ``action_server_configure_introspection`` parameter as follows.
 
-.. code-block:: bash
+To change it to user data contents with metadata:
+
+.. code-block:: console
 
-    ### User data contents with metadata
     $ ros2 param set /fibonacci_action_server action_server_configure_introspection contents
-    ### Or only metadata
+
+To change it to only metadata:
+
+.. code-block:: console
+
     $ ros2 param set /fibonacci_action_server action_server_configure_introspection metadata
-    ### To disable
+
+To disable:
+
+.. code-block:: console
+
     $ ros2 param set /fibonacci_action_server action_server_configure_introspection disabled
 
 Action client
@@ -138,22 +147,32 @@ If you want to try the Python version, you can find the source code here: `fibon
 
 And then, we start and configure ``FibonacciActionClient`` in the same way.
 
-.. 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
 
 To change action introspection state, we need to set the ``action_client_configure_introspection`` parameter as follows.
 Note that ``FibonacciActionClient`` only runs in short time, so it is recommended to set the parameter before running the client as above.
 
-.. code-block:: bash
+To change it to user data contents with metadata:
+
+.. code-block:: console
 
-    ### User data contents with metadata
     $ ros2 param set /fibonacci_action_client action_client_configure_introspection contents
-    ### Or only metadata
+
+To change it to only metadata:
+
+.. code-block:: console
+
     $ ros2 param set /fibonacci_action_client action_client_configure_introspection metadata
-    ### To disable
+
+To disable:
+
+.. code-block:: console
+
     $ ros2 param set /fibonacci_action_client action_client_configure_introspection disabled
 
+
 Introspect
 ^^^^^^^^^^
 

source/Tutorials/Demos/Content-Filtering-Subscription.rst

@@ -132,7 +132,7 @@ The ``ContentFilteringPublisher`` node publishes simulated temperature data star
 
 We can run the demo by running the ``ros2 run demo_nodes_cpp content_filtering_publisher`` executable (don't forget to source the setup file first):
 
-.. code-block:: bash
+.. code-block:: console
 
     $ ros2 run demo_nodes_cpp content_filtering_publisher
     [INFO] [1651094594.822753479] [content_filtering_publisher]: Publishing: '-100.000000'
@@ -248,7 +248,7 @@ Applications can use the ``is_cft_enabled`` method to check if content filtering
 
 To test content filtering subscription, let's run it:
 
-.. code-block:: bash
+.. code-block:: console
 
     $ ros2 run demo_nodes_cpp content_filtering_subscriber
     [INFO] [1651094590.682660703] [content_filtering_subscriber]: subscribed to topic "/temperature" with content filter options "data < %0 OR data > %1, {-30.000000, 100.000000}"
@@ -277,7 +277,7 @@ You should see a message showing the content filtering options used and logs for
 If content filtering is not supported by the RMW implementation, the subscription will still be created without content filtering enabled.
 We can try that by executing ``RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp content_filtering_publisher``.
 
-.. code-block:: bash
+.. code-block:: console
 
     $ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp content_filtering_subscriber
     [WARN] [1651096637.893842072] [content_filtering_subscriber]: Content filter is not enabled since it is not supported

source/Tutorials/Demos/Intra-Process-Communication.rst

@@ -135,7 +135,7 @@ This demonstrates that intra process communication is indeed working and unneces
 
 Let's run the demo by executing ``ros2 run intra_process_demo two_node_pipeline`` executable (don't forget to source the setup file first):
 
-.. code-block:: bash
+.. code-block:: console
 
    $ ros2 run intra_process_demo two_node_pipeline
    Published message with value: 0, and address: 0x7fb02303faf0
@@ -263,7 +263,7 @@ Because the message is being published and subscribed to as a ``unique_ptr`` the
 
 To test those expectations, let's run it:
 
-.. code-block:: bash
+.. code-block:: console
 
    $ ros2 run intra_process_demo cyclic_pipeline
    Published first message with value:  42, and address: 0x7fd2ce0a2bc0
@@ -302,7 +302,7 @@ In this demo we'll use OpenCV to capture, annotate, and then view images.
 
   If you are on macOS and these examples do not work or you receive an error like ``ddsi_conn_write failed -1``, then you'll need to increase your system wide UDP packet size:
 
-  .. code-block:: bash
+  .. code-block:: console
 
     $ sudo sysctl -w net.inet.udp.recvspace=209715
     $ sudo sysctl -w net.inet.udp.maxdgram=65500
@@ -329,9 +329,9 @@ The watermark and image view nodes are designed to modify the image without copy
 
 Let's run the demo by executing the following executable:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run intra_process_demo image_pipeline_all_in_one
+   $ ros2 run intra_process_demo image_pipeline_all_in_one
 
 You should see something like this:
 
@@ -352,9 +352,9 @@ All the nodes are still in the same process, but now two image view windows shou
 (Note for macOS users: your image view windows might be on top of each other).
 Let's run it with the command:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run intra_process_demo image_pipeline_with_two_image_view
+   $ ros2 run intra_process_demo image_pipeline_with_two_image_view
 
 
 .. image:: images/intra-process-demo-pipeline-two-windows-copy.png