add links anywhere "previous tutorial" is mentioned (ros2#1001)

Signed-off-by: maryaB-osr <[email protected]>

Author: maryaB-osr

source/Tutorials/Actions/Writing-a-Cpp-Action-Server-Client.rst

@@ -37,9 +37,8 @@ As we saw in the :ref:`CreatePkg` tutorial, we need to create a new package to h
 1.1 Creating the action_tutorials_cpp package
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Go into the action workspace you created in the previous tutorial, and create a new package for the C++ action server:
+Go into the action workspace you created in the :ref:`previous tutorial <ActionCreate>` (remember to source the workspace), and create a new package for the C++ action server:
 
-(Remember to :ref:`source the workspace from the previous tutorial <ActionCreate>` first.)
 
 .. tabs::
 

source/Tutorials/Creating-Your-First-ROS2-Package.rst

@@ -112,7 +112,7 @@ Tasks
 
 First, :ref:`source your ROS 2 installation <ConfigROS2>`.
 
-Let’s use the workspace you created in the previous tutorial, ``dev_ws``, for your new package.`
+Let’s use the workspace you created in the :ref:`previous tutorial <new-directory>`, ``dev_ws``, for your new package.`
 
 Make sure you are in the ``src`` folder before running the package creation command.
 

source/Tutorials/Custom-ROS2-Interfaces.rst

@@ -16,7 +16,7 @@ Creating custom ROS 2 msg and srv files
 Background
 ----------
 
-In previous tutorials you utilized message and service interfaces to learn about topics, services, and simple publisher/subscriber and service/client nodes.
+In previous tutorials you utilized message and service interfaces to learn about :ref:`topics <ROS2Topics>`, :ref:`services <ROS2Services>`, and simple publisher/subscriber (:ref:`C++<CppPubSub>`/:ref:`Python<PyPubSub>`) and service/client (:ref:`C++<CppSrvCli>`/:ref:`Python<PySrvCli>`) nodes.
 The interfaces you used were predefined in those cases.
 
 While it’s good practice to use predefined interface definitions, you will probably need to define your own messages and services sometimes as well.
@@ -208,7 +208,7 @@ A few simple modifications to the nodes, ``CMakeLists`` and ``package`` files wi
 7.1 Testing ``Num.msg`` with pub/sub
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-With some slight modifications to the publisher/subscriber package created in a previous tutorial, you can see ``Num.msg`` in action.
+With some slight modifications to the publisher/subscriber package created in a previous tutorial (:ref:`C++ <CppPubSub>` or :ref:`Python <PyPubSub>`), you can see ``Num.msg`` in action.
 Since you’ll be changing the standard string msg to a numerical one, the output will be slightly different.
 
 Publisher:
@@ -478,7 +478,7 @@ Since ``Num.msg`` relays only an integer, the talker should only be publishing i
 7.2 Testing ``AddThreeInts.srv`` with service/client
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-With some slight modifications to the service/client package created in a previous tutorial, you can see ``AddThreeInts.srv`` in action.
+With some slight modifications to the service/client package created in a previous tutorial (:ref:`C++ <CppSrvCli>` or :ref:`Python <PySrvCli>`), you can see ``AddThreeInts.srv`` in action.
 Since you’ll be changing the original two integer request srv to a three integer request srv, the output will be slightly different.
 
 Service:

source/Tutorials/Ros2bag/Recording-And-Playing-Back-Data.rst

@@ -35,7 +35,7 @@ If you've installed from Debians on Linux and your system doesn’t recognize th
                        ros-<distro>-rosbag2-converter-default-plugins \
                        ros-<distro>-rosbag2-storage-default-plugins
 
-This tutorial talks about concepts covered in previous tutorials, like nodes and :ref:`topics <ROS2Topics>`.
+This tutorial talks about concepts covered in previous tutorials, like :ref:`nodes <ROS2Nodes>` and :ref:`topics <ROS2Topics>`.
 It also uses the :ref:`turtlesim package <Turtlesim>`.
 
 As always, don’t forget to source ROS 2 in :ref:`every new terminal you open <ConfigROS2>`.

source/Tutorials/Single-Package-Define-And-Use-Interface.rst

@@ -22,8 +22,6 @@ Background
 
 In a :ref:`previous tutorial <CustomInterfaces>`, you learned how to create custom msg and srv interfaces.
 
-.. In previous tutorials, you learned how to create :ref:`custom msg and srv interfaces <CustomInterfaces>` and :ref:`action interfaces <ActionCreate>`. (When actions redo is done)
-
 While best practice is to declare interfaces in dedicated interface packages, sometimes it can be convenient to declare, create and use an interface all in one package.
 
 Recall that interfaces can currently only be defined in CMake packages.

source/Tutorials/Topics/Topic-Statistics-Tutorial.rst

@@ -32,6 +32,7 @@ Prerequisites
 
 An installation from either binaries or source, where the version must be at least
 `ROS2 Foxy <https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/>`__.
+
 In previous tutorials, you learned how to :ref:`create a workspace <ROS2Workspace>`,
 :ref:`create a package <CreatePkg>`, and create a :ref:`C++ <CppPubSub>` publisher and subscriber.
 
@@ -43,7 +44,7 @@ Tasks
 1 Write the subscriber node with statistics enabled
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Navigate into the ``dev_ws/src/cpp_pubsub/src`` folder, created in the previous tutorials, and
+Navigate into the ``dev_ws/src/cpp_pubsub/src`` folder, created in the :ref:`previous tutorial <CppPubSub>`, and
 download the example talker code by entering the following command:
 
 .. tabs::

source/Tutorials/Topics/Understanding-ROS2-Topics.rst

@@ -55,7 +55,7 @@ Open another terminal and run:
 
     ros2 run turtlesim turtle_teleop_key
 
-Recall from the previous tutorial that the names of these nodes are ``/turtlesim`` and ``/teleop_turtle`` by default.
+Recall from the :ref:`previous tutorial <ROS2Nodes>` that the names of these nodes are ``/turtlesim`` and ``/teleop_turtle`` by default.
 
 
 2 rqt_graph

source/Tutorials/Turtlesim/Introducing-Turtlesim.rst

@@ -38,7 +38,7 @@ Tasks
 1 Install turtlesim
 ^^^^^^^^^^^^^^^^^^^
 
-As always, start by sourcing your setup files in a new terminal, as described in the previous tutorial.
+As always, start by sourcing your setup files in a new terminal, as described in the :ref:`previous tutorial <ConfigROS2>`.
 
 Install the turtlesim package for your ROS 2 distro:
 

source/Tutorials/Understanding-ROS2-Nodes.rst

@@ -60,7 +60,7 @@ To run turtlesim, open a new terminal, and enter the following command:
 
     ros2 run turtlesim turtlesim_node
 
-The turtlesim window will open, as you saw in the previous tutorial.
+The turtlesim window will open, as you saw in the :ref:`previous tutorial <Turtlesim>`.
 
 Here, the package name is ``turtlesim`` and the executable name is ``turtlesim_node``.
 

source/Tutorials/Using-Parameters-In-A-Class-CPP.rst

@@ -33,7 +33,7 @@ Tasks
 
 Open a new terminal and :ref:`source your ROS 2 installation <ConfigROS2>` so that ``ros2`` commands will work.
 
-Navigate into the ``dev_ws`` directory created in a previous tutorial.
+Navigate into the ``dev_ws`` directory created in a :ref:`previous tutorial <new-directory>`.
 
 Recall that packages should be created in the ``src`` directory, not the root of the workspace.
 Navigate into ``dev_ws/src`` and create a new package: