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rsanchez15 merged 1 commit into from
Jan 20, 2026
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Apply scripts for furo theme compatibility #41

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4 changes: 0 additions & 4 deletions source/Releases/Release-Lyrical-Luth.rst
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Expand Up @@ -5,10 +5,6 @@
Lyrical Luth (codename 'lyrical'; May, 2026)
============================================

.. contents:: Table of Contents
:depth: 2
:local:

*Lyrical Luth* is the twelfth release of ROS 2.
What follows is highlights of the important changes and features in Lyrical Luth since the last release.

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3 changes: 0 additions & 3 deletions source/Tutorials/Advanced/Creating-An-RMW-Implementation.rst
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Expand Up @@ -7,9 +7,6 @@ Creating an ``rmw`` implementation

**Time:** 30+ minutes

.. contents:: Table of Contents
:local:

Introduction
------------

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121 changes: 77 additions & 44 deletions source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
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Expand Up @@ -65,23 +65,26 @@ To do this, let's create a ``launch_turtlesim_launch`` file in the ``/launch`` f
Earlier launch system versions may not support ``let`` inside ``include`` statements and require ``arg`` instead.
The syntax is the same: ``name`` and ``value`` attributes remain unchanged (e.g., ``<arg name="target_frame" value="carrot1" />``).

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/launch_turtlesim_launch.xml`` file:

.. literalinclude:: launch/launch_turtlesim_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/launch_turtlesim_launch.yaml`` file:

.. literalinclude:: launch/launch_turtlesim_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/launch_turtlesim_launch.py`` file:

Expand All @@ -108,23 +111,26 @@ However, there are cases when some nodes or launch files have to be launched sep
We will begin by writing a launch file that will start our first turtlesim simulation.
First, create a new file called ``turtlesim_world_1_launch``.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/turtlesim_world_1_launch.xml`` file:

.. literalinclude:: launch/turtlesim_world_1_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/turtlesim_world_1_launch.yaml`` file:

.. literalinclude:: launch/turtlesim_world_1_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/turtlesim_world_1_launch.py`` file:

Expand All @@ -139,23 +145,26 @@ This launch file starts the ``turtlesim_node`` node, which starts the turtlesim
In the second launch, we will start a second turtlesim simulation with a different configuration.
Now create a ``turtlesim_world_2_launch`` file.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/turtlesim_world_2_launch.xml`` file:

.. literalinclude:: launch/turtlesim_world_2_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/turtlesim_world_2_launch.yaml`` file:

.. literalinclude:: launch/turtlesim_world_2_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/turtlesim_world_2_launch.py`` file:

Expand Down Expand Up @@ -190,25 +199,28 @@ A solution is to use wildcard characters, which act as substitutions for unknown

Now let's create a new ``turtlesim_world_3_launch`` file similar to ``turtlesim_world_2_launch`` to include one more ``turtlesim_node`` node in a new namespace ``turtlesim3``:

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/turtlesim_world_3_launch.xml`` file:

.. literalinclude:: launch/turtlesim_world_3_launch.xml
:language: xml
:emphasize-lines: 3

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/turtlesim_world_3_launch.yaml`` file:

.. literalinclude:: launch/turtlesim_world_3_launch.yaml
:language: yaml
:emphasize-lines: 7

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/turtlesim_world_3_launch.py`` file:

Expand Down Expand Up @@ -261,9 +273,10 @@ Every nested node will inherit that namespace automatically.
To do that, firstly, we need to remove the ``namespace='turtlesim2'`` line from the ``turtlesim_world_2_launch`` file.
Afterwards, we need to update the ``launch_turtlesim_launch`` to change the include statement to the following:

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

.. code-block:: xml

Expand All @@ -272,7 +285,8 @@ Afterwards, we need to update the ``launch_turtlesim_launch`` to change the incl
<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.xml" />
</group>

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

.. code-block:: yaml

Expand All @@ -282,7 +296,8 @@ Afterwards, we need to update the ``launch_turtlesim_launch`` to change the incl
- include:
file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.yaml"

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

.. code-block:: python

Expand All @@ -304,23 +319,26 @@ As a result, each node in the ``turtlesim_world_2_launch`` launch description wi

Now create a ``broadcaster_listener_launch`` file.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/broadcaster_listener_launch.xml`` file:

.. literalinclude:: launch/broadcaster_listener_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/broadcaster_listener_launch.yaml`` file:

.. literalinclude:: launch/broadcaster_listener_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/broadcaster_listener_launch.py`` file:

Expand All @@ -341,21 +359,24 @@ We also start a ``turtle_tf2_listener`` node and set its ``target_frame`` parame
Recall that we called the ``broadcaster_listener_launch`` file in our top-level launch file.
In addition to that, we have passed it ``target_frame`` launch argument as shown below:

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

.. literalinclude:: launch/launch_turtlesim_launch.xml
:language: xml
:lines: 5-7

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

.. literalinclude:: launch/launch_turtlesim_launch.yaml
:language: yaml
:lines: 8-12

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

.. literalinclude:: launch/launch_turtlesim_launch.py
:language: python
Expand All @@ -370,23 +391,26 @@ This will assign ``target_frame`` its default value, which is ``turtle1``.

Now create a ``mimic_launch`` file.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/mimic_launch.xml`` file:

.. literalinclude:: launch/mimic_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/mimic_launch.yaml`` file:

.. literalinclude:: launch/mimic_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/mimic_launch.py`` file:

Expand All @@ -404,23 +428,26 @@ This way ``turtle1`` in our ``turtlesim2`` simulation world will follow ``turtle

Let's now create a file called ``turtlesim_rviz_launch``.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/turtlesim_rviz_launch.xml`` file:

.. literalinclude:: launch/turtlesim_rviz_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/turtlesim_rviz_launch.yaml`` file:

.. literalinclude:: launch/turtlesim_rviz_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/turtlesim_rviz_launch.py`` file:

Expand All @@ -435,23 +462,26 @@ This RViz configuration will set the world frame, enable TF visualization, and s

Let's now create the last launch file called ``fixed_broadcaster_launch`` in our package.

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

Copy and paste the complete code into the ``launch/fixed_broadcaster_launch.xml`` file:

.. literalinclude:: launch/fixed_broadcaster_launch.xml
:language: xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

Copy and paste the complete code into the ``launch/fixed_broadcaster_launch.yaml`` file:

.. literalinclude:: launch/fixed_broadcaster_launch.yaml
:language: yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

Copy and paste the complete code into the ``launch/fixed_broadcaster_launch.py`` file:

Expand Down Expand Up @@ -494,21 +524,24 @@ The ``data_files`` field should now look like this:

To finally see the result of our code, build the package and launch the top-level launch file using the following command:

.. tabs::
.. tab-set::

.. group-tab:: XML
.. tab-item:: XML
:sync: XML

.. code-block:: console

$ ros2 launch launch_tutorial launch_turtlesim_launch.xml

.. group-tab:: YAML
.. tab-item:: YAML
:sync: YAML

.. code-block:: console

$ ros2 launch launch_tutorial launch_turtlesim_launch.yaml

.. group-tab:: Python
.. tab-item:: Python
:sync: Python

.. code-block:: console

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11 changes: 7 additions & 4 deletions source/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-CPP.rst
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Expand Up @@ -399,21 +399,24 @@ Navigate back to the root of your workspace, ``ros2_ws``, and rebuild your updat

Then source the setup files:

.. tabs::
.. tab-set::

.. group-tab:: Linux
.. tab-item:: Linux
:sync: Linux

.. code-block:: console

$ . install/setup.bash

.. group-tab:: macOS
.. tab-item:: macOS
:sync: macOS

.. code-block:: console

$ . install/setup.bash

.. group-tab:: Windows
.. tab-item:: Windows
:sync: Windows

.. code-block:: console

Expand Down
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