Polishes 'Tutorials' documentation.

Author: hidmic

source/Tutorials.rst

@@ -2,65 +2,81 @@
 Tutorials
 =========
 
-.. toctree::
-   :hidden:
-   :glob:
-
-   Tutorials/*
-
+Basic
+-----
 
-ROS 2 Tutorials
----------------
 
-
-* `Installation from binary and source, all platforms <Installation>`
-* `Using colcon to build a custom package <Tutorials/Colcon-Tutorial>`
-* `Using ament mixed with catkin <Tutorials/catment>`
-* `Introspection with command-line tools <Tutorials/Introspection-with-command-line-tools>`
-* `User Interfaces with RQt <Tutorials/RQt-Overview-Usage>`
-* `Passing ROS arguments to nodes via the command-line <Tutorials/Node-arguments>`
-* `Launching/monitoring multiple nodes with Launch <Tutorials/Launch-system>`
-* `Working with multiple RMW implementations <Tutorials/Working-with-multiple-RMW-implementations>`
-* `Composing multiple nodes in a single process <Tutorials/Composition>`
-* `Defining custom interfaces (msg/srv) <Tutorials/Defining-custom-interfaces-(msg-srv)>`
-* `New features in ROS 2 interfaces (msg srv) <Tutorials/New-features-in-ROS-2-interfaces-(msg-srv)>`
-* `Eclipse Oxygen with ROS 2 and rviz2 <Tutorials/Eclipse-Oxygen-with-ROS-2-and-rviz2>` [community-contributed]
-* `Building ROS 2 on Linux with Eclipse Oxygen <Tutorials/Building-ROS-2-on-Linux-with-Eclipse-Oxygen>` [community-contributed]
-* `Building Realtime rt_preempt kernel for ROS 2 <Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2>` [community-contributed]
+.. toctree::
+   :maxdepth: 1
+
+   Tutorials/Colcon-Tutorial
+   Tutorials/Ament-Tutorial
+   Tutorials/catment
+   Tutorials/Introspection-with-command-line-tools
+   Tutorials/RQt-Overview-Usage
+   Tutorials/RQt-Port-Plugin-Windows
+   Tutorials/Node-arguments
+   Tutorials/Launch-system
+   Tutorials/Working-with-multiple-RMW-implementations
+   Tutorials/Composition
+   Tutorials/Rosidl-Tutorial.rst
+   Tutorials/New-features-in-ROS-2-interfaces-(msg-srv)
+   Tutorials/Defining-custom-interfaces-(msg-srv)
+   Tutorials/Eclipse-Oxygen-with-ROS-2-and-rviz2
+   Tutorials/Building-ROS-2-on-Linux-with-Eclipse-Oxygen
+   Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2
+   Tutorials/Releasing-a-ROS-2-package-with-bloom
+   
 
 Advanced
-^^^^^^^^
-
+--------
 
-* `Implement a custom memory allocator <Tutorials/Allocator-Template-Tutorial>`
-
-Docker
-^^^^^^
-
-
-* `Run 2 nodes in a single docker container <Tutorials/Run-2-nodes-in-a-single-docker-container>` [community-contributed]
-* `Run 2 nodes in two separate docker containers <Tutorials/Run-2-nodes-in-two-separate-docker-containers>` [community-contributed]
+.. toctree::
+   :maxdepth: 1
+              
+   Tutorials/Allocator-Template-Tutorial
 
-ROS 2 Demos
------------
 
+Using Docker
+------------
 
-* `Use quality-of-service settings to handle lossy networks <Tutorials/Quality-of-Service>`
-* `Management of nodes with managed lifecycles <Tutorials/Managed-Nodes>`
-* `Efficient intra-process communication <Tutorials/Intra-Process-Communication>`
-* `Bridge communication between ROS 1 and ROS 2 <https://github.com/ros2/ros1_bridge/blob/master/README.md>`__
-* `Recording and playback of topic data with rosbag using the ROS 1 bridge <Tutorials/Rosbag-with-ROS1-Bridge>`
-* `Turtlebot 2 demo using ROS 2 <https://github.com/ros2/turtlebot2_demo>`__
-* `TurtleBot 3 demo using ROS 2 <http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#ros2>`__ [community-contributed]
-* `Using tf2 with ROS 2 <Tutorials/tf2>`
-* `Write real-time safe code that uses the ROS 2 APIs <Tutorials/Real-Time-Programming>`
-* `Use the rclpy API to write ROS 2 programs in Python <Tutorials/Python-Programming>`
-* `Use the robot state publisher to publish joint states and TF <Tutorials/dummy-robot-demo>`
-* `Use DDS-Security <https://github.com/ros2/sros2/blob/master/README.md>`__
-* `Logging and logger configuration <Tutorials/Logging-and-logger-configuration>`
+.. toctree::
+   :maxdepth: 1
+           
+   Tutorials/Run-2-nodes-in-a-single-docker-container
+   Tutorials/Run-2-nodes-in-two-separate-docker-containers
 
-ROS 2 Examples
---------------
+Demos
+-----
 
+.. toctree::
+   :hidden:
 
-* `Python and C++ minimal examples <https://github.com/ros2/examples>`__
+   Tutorials/Quality-of-Service
+   Tutorials/Managed-Nodes
+   Tutorials/Intra-Process-Communication
+   Tutorials/Rosbag-with-ROS1-Bridge
+   Tutorials/tf2
+   Tutorials/Real-Time-Programming
+   Tutorials/Python-Programming
+   Tutorials/dummy-robot-demo
+   Tutorials/Logging-and-logger-configuration
+      
+* `Use quality-of-service settings to handle lossy networks <Tutorials/Quality-of-Service>`.
+* `Management of nodes with managed lifecycles <Tutorials/Managed-Nodes>`.
+* `Efficient intra-process communication <Tutorials/Intra-Process-Communication>`.
+* `Bridge communication between ROS 1 and ROS 2 <https://github.com/ros2/ros1_bridge/blob/master/README.md>`__.
+* `Recording and playback of topic data with rosbag using the ROS 1 bridge <Tutorials/Rosbag-with-ROS1-Bridge>`.
+* `Turtlebot 2 demo using ROS 2 <https://github.com/ros2/turtlebot2_demo>`__.
+* `TurtleBot 3 demo using ROS 2 <http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#ros2>`__. [community-contributed]
+* `Using tf2 with ROS 2 <Tutorials/tf2>`.
+* `Write real-time safe code that uses the ROS 2 APIs <Tutorials/Real-Time-Programming>`.
+* `Use the rclpy API to write ROS 2 programs in Python <Tutorials/Python-Programming>`.
+* `Use the robot state publisher to publish joint states and TF <Tutorials/dummy-robot-demo>`.
+* `Use DDS-Security <https://github.com/ros2/sros2/blob/master/README.md>`__.
+* `Logging and logger configuration <Tutorials/Logging-and-logger-configuration>`.
+
+Examples
+--------
+
+* `Python and C++ minimal examples <https://github.com/ros2/examples>`__.

source/Tutorials/About-Quality-of-Service-Settings.rst

@@ -1,4 +1,11 @@
 
+Implement a custom memory allocator
+===================================
+
+.. contents:: Table of Contents
+   :depth: 1
+   :local:
+
 This tutorial will teach you how to integrate a custom allocator for publishers and subscribers so that the default heap allocator is never called while your ROS nodes are executing.
 The code for this tutorial is available `here <https://github.com/ros2/demos/blob/master/demo_nodes_cpp/src/topics/allocator_tutorial.cpp>`__.
 
@@ -20,7 +27,7 @@ The C++11 library provides something called ``allocator_traits``. The C++11 stan
 
 For example, the following declaration for a custom allocator would satisfy ``allocator_traits`` (of course, you would still need to implement the declared functions in this struct):
 
-.. code-block:: bash
+.. code-block:: c++
 
    template <class T>
    struct custom_allocator {
@@ -39,11 +46,11 @@ For example, the following declaration for a custom allocator would satisfy ``al
 
 You could then access other functions and members of the allocator filled in by ``allocator_traits`` like so: ``std::allocator_traits<custom_allocator<T>>::construct(...)``
 
-To learn about the full capabilities of ``allocator_traits``\ , see: http://en.cppreference.com/w/cpp/memory/allocator_traits
+To learn about the full capabilities of ``allocator_traits``, see http://en.cppreference.com/w/cpp/memory/allocator_traits .
 
 However, some compilers that only have partial C++11 support, such as GCC 4.8, still require allocators to implement a lot of boilerplate code to work with standard library structures such as vectors and strings, because these structures do not use ``allocator_traits`` internally. Therefore, if you're using a compiler with partial C++11 support, your allocator will need to look more like this:
 
-.. code-block:: bash
+.. code-block:: c++
 
    template<typename T>
    struct pointer_traits {
@@ -95,7 +102,7 @@ Writing an example main
 
 Once you have written a valid C++ allocator, you must pass it as a shared pointer to your publisher, subscriber, and executor.
 
-.. code-block:: bash
+.. code-block:: c++
 
      auto alloc = std::make_shared<MyAllocator<void>>();
      auto publisher = node->create_publisher<std_msgs::msg::UInt32>("allocator_example", 10, alloc);
@@ -111,13 +118,13 @@ Once you have written a valid C++ allocator, you must pass it as a shared pointe
 
 You will also need to use your allocator to allocate any messages that you pass along the execution codepath.
 
-.. code-block:: bash
+.. code-block:: c++
 
      auto alloc = std::make_shared<MyAllocator<void>>();
 
 Once you've instantiated the node and added the executor to the node, it's time to spin:
 
-.. code-block:: bash
+.. code-block:: c++
 
      uint32_t i = 0;
      while (rclcpp::ok()) {
@@ -135,7 +142,7 @@ Even though we instantiated a publisher and subscriber in the same process, we a
 
 The IntraProcessManager is a class that is usually hidden from the user, but in order to pass a custom allocator to it we need to expose it by getting it from the rclcpp Context. The IntraProcessManager makes use of several standard library structures, so without a custom allocator it will call the default new.
 
-.. code-block:: bash
+.. code-block:: c++
 
      auto context = rclcpp::contexts::default_context::get_global_default_context();
      auto ipm_state =
@@ -155,7 +162,7 @@ The obvious thing to do would be to count the calls made to your custom allocato
 
 Adding counting to the custom allocator is easy:
 
-.. code-block:: bash
+.. code-block:: c++
 
      T * allocate(size_t size, const void * = 0) {
        // ...
@@ -171,7 +178,7 @@ Adding counting to the custom allocator is easy:
 
 You can also override the global new and delete operators:
 
-.. code-block:: bash
+.. code-block:: c++
 
    void operator delete(void * ptr) noexcept {
      if (ptr != nullptr) {