Add $ to Intermediate and Miscellaneous

source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst

@@ -290,7 +290,7 @@ One way is to pass the ``target_frame`` argument to the launch file directly fro
 
 .. code-block:: console
 
-    ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.py target_frame:=carrot1
+    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.py target_frame:=carrot1
 
 The second way is to update the launch file.
 To do so, open the ``turtle_tf2_fixed_frame_demo_launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -322,27 +322,27 @@ Inside the ``src`` directory download the dynamic frame broadcaster code by ente
 
       .. code-block:: console
 
-          wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
+          $ wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-          wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
+          $ wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
 
    .. group-tab:: Windows
 
       In a Windows command line prompt:
 
       .. code-block:: console
 
-          curl -sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp -o dynamic_frame_tf2_broadcaster.cpp
+          $ curl -sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp -o dynamic_frame_tf2_broadcaster.cpp
 
       Or in powershell:
 
       .. code-block:: console
 
-          curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp -o dynamic_frame_tf2_broadcaster.cpp
+          $ curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp -o dynamic_frame_tf2_broadcaster.cpp
 
 Now open the file called ``dynamic_frame_tf2_broadcaster.cpp``:
 
@@ -459,7 +459,7 @@ Run ``rosdep`` in the root of your workspace to check for missing dependencies.
 
       .. code-block:: console
 
-          rosdep install -i --from-path src --rosdistro {DISTRO} -y
+          $ rosdep install -i --from-path src --rosdistro {DISTRO} -y
 
    .. group-tab:: macOS
 
@@ -477,19 +477,19 @@ Still in the root of your workspace, build your package:
 
       .. code-block:: console
 
-          colcon build --packages-select learning_tf2_cpp
+          $ colcon build --packages-select learning_tf2_cpp
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-          colcon build --packages-select learning_tf2_cpp
+          $ colcon build --packages-select learning_tf2_cpp
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-          colcon build --merge-install --packages-select learning_tf2_cpp
+          $ colcon build --merge-install --packages-select learning_tf2_cpp
 
 Open a new terminal, navigate to the root of your workspace, and source the setup files:
 
@@ -499,13 +499,13 @@ Open a new terminal, navigate to the root of your workspace, and source the setu
 
       .. code-block:: console
 
-          . install/setup.bash
+          $ . install/setup.bash
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-          . install/setup.bash
+          $ . install/setup.bash
 
    .. group-tab:: Windows
 

source/Tutorials/Intermediate/Tf2/Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter.rst

@@ -644,11 +644,6 @@ Now if you echo the topic ``turtle3/turtle_point_stamped``:
 .. code-block:: console
 
     $ ros2 topic echo /turtle3/turtle_point_stamped
-
-Then there will be output like this:
-
-.. code-block:: console
-
     header:
       stamp:
         sec: 1629877510

source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst

@@ -238,7 +238,7 @@ To see the model generated by a xacro file, run the same command as with previou
 
 .. code-block:: console
 
-  ros2 launch urdf_tutorial display.launch.py model:=urdf/08-macroed.urdf.xacro
+  $ ros2 launch urdf_tutorial display.launch.py model:=urdf/08-macroed.urdf.xacro
 
 (The launch file has been running the xacro command this whole time, but since there were no macros to expand, it didn't matter)
 

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.rst

@@ -232,7 +232,7 @@ You should see messages printed by the action server as it successfully executes
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2])
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2, 3])
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2, 3, 5])
-      # etc.
+      ~ etc.
 
 
   .. group-tab:: macOS
@@ -245,7 +245,7 @@ You should see messages printed by the action server as it successfully executes
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2])
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2, 3])
       [INFO] [fibonacci_action_server]: Feedback: array('i', [0, 1, 1, 2, 3, 5])
-      # etc.
+      ~ etc.
 
 
   .. group-tab:: Windows

source/Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst

@@ -150,10 +150,15 @@ Then we install all kernel deb packages
    $ sudo dpkg -i ../*.deb
 
 Now the real time kernel should be installed.
-Reboot the system and check the new kernel version
+Reboot the system:
 
 .. code-block:: console
 
    $ sudo reboot
-   uname -a
+
+And check the new kernel version:
+
+.. code-block:: console
+
+   $ uname -a
    Linux ros2host 5.4.78-rt44 #1 SMP PREEMPT_RT Fri Nov 6 10:37:59 CET 2020 x86_64 xx