#130 add simple filter tutorial for cpp (backport #239) (#240)

* #130 add simple filter tutorial for cpp (#239)

Signed-off-by: EsipovPA <esipov.p@mail.ru>
(cherry picked from commit 92af2b7)
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Author: 3 people

doc/Tutorials/Cache-Cpp.rst

@@ -293,7 +293,7 @@ Now open the ``CMakeLists.txt`` add the executable and name it ``cache_tutorial`
 
 	ament_auto_add_executable(cache_tutorial src/cache_tutorial.cpp)
 
-Finally, add the install(TARGETS…) section so ros2 run can find your executable:
+Finally, add the ``install(TARGETS…)`` section so ros2 run can find your executable:
 
 .. code-block:: CMake
 

doc/Tutorials/Chain-Cpp.rst

@@ -445,7 +445,7 @@ Now open the ``CMakeLists.txt`` add the executable and name it ``chain_tutorial`
 
 	ament_auto_add_executable(chain_tutorial src/chain_tutorial.cpp)
 
-Finally, add the install(TARGETS…) section so ros2 run can find your executable:
+Finally, add the ``install(TARGETS…)`` section so ros2 run can find your executable:
 
 .. code-block:: CMake
 

doc/Tutorials/Chain-Python.rst

@@ -11,15 +11,14 @@ It allows you to store an N-long set of filters inside a single structure, makin
 To demonstrate the functionality of the ``Chain`` filter in a more clear manner, we are going to add a custom filter to this tutorial.
 This is going to be the ``CounterFilter`` that will be counting the number of messages passing through it.
 This filter class will be a successor to the ``SimpleFilter`` class, but this is a topic for another tutorial.
-
-.. TODO: @EsipovPA: Add message_filters.SimpleFilter tutorial reference, when ready
+For more information on this topic, please refer to the `SimpleFilter for Python tutorial <https://docs.ros.org/en/kilted/p/message_filters/doc/Tutorials/SimpleFilter-Python.html>`.
 
 Prerequisites
 ~~~~~~~~~~~~~
 
 This tutorial assumes you have a working knowledge of ROS 2.
 
-If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
+If you have not done so already `create a workspace <https://docs.ros.org/en/kilted/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/kilted/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
 
 1. Create a Basic Node
 ~~~~~~~~~~~~~~~~~~~~~~
@@ -174,8 +173,7 @@ The ``add`` method increases messages count, and passes messages to the followin
 The ``connectInput`` connects this filter to a previous filter's output.
 The ``counter`` property grants access to the current messages count.
 
-.. More on this succession mechanism should be in the corresponding tutorial
-.. TODO: @EsipovPA Add link to the message_filters.SimpleFilter tutorial, when added.
+For more information on this succession mechanism, please refer to the `SimpleFilter for Python tutorial <https://docs.ros.org/en/kilted/p/message_filters/doc/Tutorials/SimpleFilter-Python.html>`.
 
 And now we can turn our attention to the main tutorial class, that is the ``ChainNode`` class.
 For starters, let's take a look at the ``__init__`` method of this class:
@@ -201,7 +199,7 @@ For starters, let's take a look at the ``__init__`` method of this class:
             self.chain_counter = 0
 
 First we declare a Quality of Service profile.
-After that we initialize a basic ``ros2`` ``publisher`` that will generate the input for our filters chain. 
+After that we initialize a basic ``ros2`` ``publisher`` that will generate the input for our filters chain.
 The chain is giong to contain three filters.
 A ``Subscriber`` filter and two instances of a ``CounterFilter`` that is defined earlier.
 We initialize all of those.
@@ -367,7 +365,7 @@ After that the first message passes through the all filters in chain as indicate
 
 From this point on, all three counters increase their values as more messages are passed down the filter chain.
 
-6. Other methods of the Chain filter interface 
+6. Other methods of the Chain filter interface
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 In this example we've passed the ``subscriber_filter`` object to the ``chain_filter`` as a constructor argument.
@@ -380,7 +378,7 @@ In this case, the ``subscriber_filter`` was used as an input filter for the ``ch
 The other way to do it is by calling ``connectInput`` method of the ``Chain`` class.
 
 .. code-block:: python
-    
+
     self.chain_filter = Chain()
     self.subscriber = Subscriber()
     self.chain_filter.connectInput(self.subscriber)