Update code-blocks in Beginnter-CLI-Tools docu (#5236)

Signed-off-by: Nils-Christian Iseke <[email protected]>
Co-authored-by: Christophe Bedard <[email protected]>

Author: Nils-ChristianIseke

source/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.rst

@@ -56,23 +56,25 @@ You will need to run this command on every new shell you open to have access to
 
    .. group-tab:: Linux
 
-      .. code-block:: bash
+      .. code-block:: console
+
+        $ source /opt/ros/{DISTRO}/setup.bash
 
-        # Replace ".bash" with your shell if you're not using bash
-        # Possible values are: setup.bash, setup.sh, setup.zsh
-        source /opt/ros/{DISTRO}/setup.bash
+
+      Replace ``.bash`` with your shell if you're not using bash.
+      Possible values are: ``setup.bash``, ``setup.sh``, ``setup.zsh``.
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        . ~/ros2_install/ros2-osx/setup.bash
+        $ . ~/ros2_install/ros2-osx/setup.bash
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-        call C:\dev\ros2\local_setup.bat
+        $ call C:\dev\ros2\local_setup.bat
 
 .. note::
     The exact command depends on where you installed ROS 2.
@@ -89,15 +91,15 @@ If you don't want to have to source the setup file every time you open a new she
 
       .. code-block:: console
 
-        echo "source /opt/ros/{DISTRO}/setup.bash" >> ~/.bashrc
+        $ echo "source /opt/ros/{DISTRO}/setup.bash" >> ~/.bashrc
 
-     To undo this, locate your system's shell startup script and remove the appended source command.
+      To undo this, locate your system's shell startup script and remove the appended source command.
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        echo "source ~/ros2_install/ros2-osx/setup.bash" >> ~/.bash_profile
+        $ echo "source ~/ros2_install/ros2-osx/setup.bash" >> ~/.bash_profile
 
       To undo this, locate your system's shell startup script and remove the appended source command.
 
@@ -109,14 +111,14 @@ If you don't want to have to source the setup file every time you open a new she
 
       .. code-block:: console
 
-        C:\dev\ros2_{DISTRO}\local_setup.ps1
+        $ C:\dev\ros2_{DISTRO}\local_setup.ps1
 
       PowerShell will request permission to run this script every time a new shell is opened.
       To avoid that issue you can run:
 
       .. code-block:: console
 
-        Unblock-File C:\dev\ros2_{DISTRO}\local_setup.ps1
+        $ Unblock-File C:\dev\ros2_{DISTRO}\local_setup.ps1
 
       To undo this, remove the new 'Microsoft.PowerShell_profile.ps1' file.
 
@@ -132,19 +134,19 @@ If you ever have problems finding or using your ROS 2 packages, make sure that y
 
       .. code-block:: console
 
-        printenv | grep -i ROS
+        $ printenv | grep -i ROS
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        printenv | grep -i ROS
+        $ printenv | grep -i ROS
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-        set | findstr -i ROS
+        $ set | findstr -i ROS
 
 Check that variables like ``ROS_DISTRO`` and ``ROS_VERSION`` are set.
 
@@ -170,37 +172,37 @@ Once you have determined a unique integer for your group of ROS 2 nodes, you can
 
       .. code-block:: console
 
-        export ROS_DOMAIN_ID=<your_domain_id>
+        $ export ROS_DOMAIN_ID=<your_domain_id>
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
+        $ echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        export ROS_DOMAIN_ID=<your_domain_id>
+        $ export ROS_DOMAIN_ID=<your_domain_id>
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bash_profile
+        $ echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bash_profile
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-        set ROS_DOMAIN_ID=<your_domain_id>
+        $ set ROS_DOMAIN_ID=<your_domain_id>
 
       If you want to make this permanent between shell sessions, also run:
 
       .. code-block:: console
 
-        setx ROS_DOMAIN_ID <your_domain_id>
+        $ setx ROS_DOMAIN_ID <your_domain_id>
 
 3.2 The ``ROS_AUTOMATIC_DISCOVERY_RANGE`` variable
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst

@@ -55,9 +55,8 @@ Install the turtlesim package for your ROS 2 distro:
 
       .. code-block:: console
 
-        sudo apt update
-
-        sudo apt install ros-{DISTRO}-turtlesim
+        $ sudo apt update
+        $ sudo apt install ros-{DISTRO}-turtlesim
 
    .. group-tab:: macOS
 
@@ -67,16 +66,11 @@ Install the turtlesim package for your ROS 2 distro:
 
       As long as the archive you installed ROS 2 from contains the ``ros_tutorials`` repository, you should already have turtlesim installed.
 
-Check that the package is installed:
-
-.. code-block:: console
-
-  ros2 pkg executables turtlesim
-
-The above command should return a list of turtlesim's executables:
+To check if the package is installed, run the following command, which should return a list of turtlesim's executables:
 
 .. code-block:: console
 
+  $ ros2 pkg executables turtlesim
   turtlesim draw_square
   turtlesim mimic
   turtlesim turtle_teleop_key
@@ -89,20 +83,17 @@ To start turtlesim, enter the following command in your terminal:
 
 .. code-block:: console
 
-  ros2 run turtlesim turtlesim_node
+  $ ros2 run turtlesim turtlesim_node
+  [INFO] [turtlesim]: Starting turtlesim with node name /turtlesim
+  [INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
+
+Under the command, you will see messages from the node.
+There you can see the default turtle's name and the coordinates where it spawns.
 
 The simulator window should appear, with a random turtle in the center.
 
 .. image:: images/turtlesim.png
 
-In the terminal, under the command, you will see messages from the node:
-
-.. code-block:: console
-
-  [INFO] [turtlesim]: Starting turtlesim with node name /turtlesim
-  [INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
-
-There you can see the default turtle's name and the coordinates where it spawns.
 
 3 Use turtlesim
 ^^^^^^^^^^^^^^^
@@ -113,7 +104,7 @@ Now you will run a new node to control the turtle in the first node:
 
 .. code-block:: console
 
-  ros2 run turtlesim turtle_teleop_key
+  $ ros2 run turtlesim turtle_teleop_key
 
 At this point you should have three windows open: a terminal running ``turtlesim_node``, a terminal running ``turtle_teleop_key`` and the turtlesim window.
 Arrange these windows so that you can see the turtlesim window, but also have the terminal running ``turtle_teleop_key`` active so that you can control the turtle in turtlesim.
@@ -130,10 +121,10 @@ You can see the nodes, and their associated topics, services, and actions, using
 
 .. code-block:: console
 
-  ros2 node list
-  ros2 topic list
-  ros2 service list
-  ros2 action list
+  $ ros2 node list
+  $ ros2 topic list
+  $ ros2 service list
+  $ ros2 action list
 
 You will learn more about these concepts in the coming tutorials.
 Since the goal of this tutorial is only to get a general overview of turtlesim, you will use rqt to call some of the turtlesim services and interact with ``turtlesim_node``.
@@ -149,15 +140,14 @@ Open a new terminal to install ``rqt`` and its plugins:
 
     .. code-block:: console
 
-      sudo apt update
-
-      sudo apt install '~nros-{DISTRO}-rqt*'
+      $ sudo apt update
+      $ sudo apt install '~nros-{DISTRO}-rqt*'
 
   .. group-tab:: RHEL
 
     .. code-block:: console
 
-      sudo dnf install 'ros-{DISTRO}-rqt*'
+      $ sudo dnf install 'ros-{DISTRO}-rqt*'
 
   .. group-tab:: macOS
 
@@ -171,7 +161,7 @@ To run rqt:
 
 .. code-block:: console
 
-  rqt
+  $ rqt
 
 5 Use rqt
 ^^^^^^^^^
@@ -247,7 +237,7 @@ In a new terminal, source ROS 2, and run:
 
 .. code-block:: console
 
-  ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
+  $ ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
 
 
 Now, you can move ``turtle2`` when this terminal is active, and ``turtle1`` when the other terminal running ``turtle_teleop_key`` is active.

source/Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/Launching-Multiple-Nodes.rst

@@ -50,7 +50,7 @@ Open a new terminal and run:
 
 .. code-block:: console
 
-   ros2 launch turtlesim multisim.launch.py
+   $ ros2 launch turtlesim multisim.launch.py
 
 This command will run the following launch file:
 
@@ -79,13 +79,13 @@ In the second terminal:
 
 .. code-block:: console
 
-   ros2 topic pub  /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
+   $ ros2 topic pub  /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
 
 In the third terminal:
 
 .. code-block:: console
 
-   ros2 topic pub  /turtlesim2/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}"
+   $ ros2 topic pub  /turtlesim2/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}"
 
 After running these commands, you should see something like the following: