Fix docs format

doc/index.rst

@@ -15,13 +15,13 @@ What you can find in this repository
 
 This repository demonstrates the following ``ros2_control`` concepts:
 
-* Creating a ``HardwareInterface`` for a System, Sensor, and Actuator.
-* Creating a robot description in the form of URDF files.
-* Loading the configuration and starting a robot using launch files.
-* Control of a differential mobile base *DiffBot*.
-* Control of two joints of *RRBot*.
-* Implementing a controller switching strategy for a robot.
-* Using joint limits and transmission concepts in ``ros2_control``.
+  * Creating a ``HardwareInterface`` for a System, Sensor, and Actuator.
+  * Creating a robot description in the form of URDF files.
+  * Loading the configuration and starting a robot using launch files.
+  * Control of a differential mobile base *DiffBot*.
+  * Control of two joints of *RRBot*.
+  * Implementing a controller switching strategy for a robot.
+  * Using joint limits and transmission concepts in ``ros2_control``.
 
 =====================
 Goals
@@ -36,38 +36,31 @@ The repository has two other goals:
 Example Overview
 =====================
 
-* Example 1: RRBot
-
+Example 1: RRBot
    *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers.
 
 
-* Example 2: DiffBot
-
+Example 2: DiffBot
    *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
    The robot is basically a box moving according to differential drive kinematics.
 
 
-* Example 3: "RRBot with multiple interfaces"
-
+Example 3: "RRBot with multiple interfaces"
    *RRBot* with multiple interfaces.
 
 
-* Example 4: "Industrial robot with integrated sensor"
-
+Example 4: "Industrial robot with integrated sensor"
    *RRBot* with an integrated sensor.
 
 
-* Example 5: "Industrial Robots with externally connected sensor"
-
+Example 5: "Industrial Robots with externally connected sensor"
    *RRBot* with an externally connected sensor.
 
-* Example 6: "Modular Robots with separate communication to each actuator"
-
+Example 6: "Modular Robots with separate communication to each actuator"
    The example shows how to implement robot hardware with separate communication to each actuator.
 
 
-* Example 8: "Using transmissions"
-
+Example 8: "Using transmissions"
    *RRBot* with an exposed transmission interface.
 
 =====================
@@ -76,17 +69,17 @@ Quick Hints
 
 These are some quick hints, especially for those coming from a ROS1 control background:
 
-* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*.
-  *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators.
-  You could think of a Sensor as read-only.
-  All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro.
-* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort.
-  *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface.
-  The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp.
-* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
-* In ros2_control, all parameters for the driver are specified in the URDF.
-  The ros2_control framework uses the **<ros2_control>** tag in the URDF.
-* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
+  * There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*.
+    *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators.
+    You could think of a Sensor as read-only.
+    All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro.
+  * *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort.
+    *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface.
+    The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp.
+  * Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
+  * In ros2_control, all parameters for the driver are specified in the URDF.
+    The ros2_control framework uses the **<ros2_control>** tag in the URDF.
+  * Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
 
 =====================
 Examples

example_1/doc/userdoc.rst

@@ -11,9 +11,9 @@ simulator and was originally introduced for Gazebo tutorials.
 
 For *example_1*, the hardware interface plugin is implemented having only one interface.
 
-- The communication is done using proprietary API to communicate with the robot control box.
-- Data for all joints is exchanged at once.
-- Examples: KUKA RSI
+* The communication is done using proprietary API to communicate with the robot control box.
+* Data for all joints is exchanged at once.
+* Examples: KUKA RSI
 
 The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
@@ -39,8 +39,8 @@ Tutorial steps
 
    The *RViz* setup can be recreated following these steps:
 
-   - The robot models can be visualized using ``RobotModel`` display using ``/robot_description`` topic.
-   - Or you can simply open the configuration from ``description/rviz`` folder manually or directly by executing
+   * The robot models can be visualized using ``RobotModel`` display using ``/robot_description`` topic.
+   * Or you can simply open the configuration from ``description/rviz`` folder manually or directly by executing
 
    .. code-block:: shell
 
@@ -213,24 +213,24 @@ Tutorial steps
 Files used for this demos
 -------------------------
 
-- Launch file: `rrbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/launch/rrbot.launch.py>`__
-- Controllers yaml: `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/config/rrbot_controllers.yaml>`__
-- URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/urdf/rrbot.urdf.xacro>`__
+* Launch file: `rrbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/launch/rrbot.launch.py>`__
+* Controllers yaml: `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/config/rrbot_controllers.yaml>`__
+* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/urdf/rrbot.urdf.xacro>`__
 
-  + Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/urdf/rrbot_description.urdf.xacro>`__
-  + ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
+  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/urdf/rrbot_description.urdf.xacro>`__
+  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
 
-- RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/rviz/rrbot.rviz>`__
-- Test nodes goals configuration:
+* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/description/rviz/rrbot.rviz>`__
+* Test nodes goals configuration:
 
   + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/config/rrbot_forward_position_publisher.yaml>`__
   + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
 
-- Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/hardware/rrbot.cpp>`__
+* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/master/example_1/hardware/rrbot.cpp>`__
 
 
 Controllers from this demo
 --------------------------
-- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/forward_command_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
-- ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_trajectory_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__
+  * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
+  * ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/forward_command_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+  * ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_trajectory_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__

example_2/doc/userdoc.rst

@@ -9,8 +9,8 @@ The robot is basically a box moving according to differential drive kinematics.
 
 For *example_2*, the hardware interface plugin is implemented having only one interface.
 
-- The communication is done using proprietary API to communicate with the robot control box.
-- Data for all joints is exchanged at once.
+* The communication is done using proprietary API to communicate with the robot control box.
+* Data for all joints is exchanged at once.
 
 The *DiffBot* URDF files can be found in ``description/urdf`` folder.
 
@@ -100,22 +100,22 @@ Tutorial steps
     [DiffBotSystemHardware]: Got command 50.00000 for 'right_wheel_joint'!
 
 Files used for this demos
-#########################
+--------------------------
 
-  - Launch file: `diffbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/bringup/launch/diffbot.launch.py>`__
-  - Controllers yaml: `diffbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/bringup/config/diffbot_controllers.yaml>`__
-  - URDF file: `diffbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/urdf/diffbot.urdf.xacro>`__
+* Launch file: `diffbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/bringup/launch/diffbot.launch.py>`__
+* Controllers yaml: `diffbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/bringup/config/diffbot_controllers.yaml>`__
+* URDF file: `diffbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/urdf/diffbot.urdf.xacro>`__
 
-    + Description: `diffbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/urdf/diffbot_description.urdf.xacro>`__
-    + ``ros2_control`` tag: `diffbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/ros2_control/diffbot.ros2_control.xacro>`__
+  * Description: `diffbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/urdf/diffbot_description.urdf.xacro>`__
+  * ``ros2_control`` tag: `diffbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/ros2_control/diffbot.ros2_control.xacro>`__
 
-  - RViz configuration: `diffbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/rviz/diffbot.rviz>`__
+* RViz configuration: `diffbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/description/rviz/diffbot.rviz>`__
 
-  - Hardware interface plugin: `diffbot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/hardware/diffbot_system.cpp>`__
+* Hardware interface plugin: `diffbot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/master/example_2/hardware/diffbot_system.cpp>`__
 
 
 Controllers from this demo
-##########################
+--------------------------
 
-- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-- ``Diff Drive Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
+* ``Diff Drive Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__