From 1260b844a0dc24b19dc80b675b009d629e08fba5 Mon Sep 17 00:00:00 2001 From: Raul Sanchez-Mateos Date: Wed, 27 May 2026 10:18:35 +0200 Subject: [PATCH] Apply some changes to fix ros2 compilation Signed-off-by: Raul Sanchez-Mateos --- source/About-ROS.rst | 4 --- .../Interfaces-Topics-Services-Actions.rst | 4 --- source/First-Steps.rst | 4 --- .../How-To-Guides/Topics-Services-Actions.rst | 35 ------------------- source/Installation/ROS-2-Mirrors.rst | 3 -- .../Lyrical-Luth-Complete-Changelog.rst | 3 -- source/Releases/Release-Lyrical-Luth.rst | 11 +++--- .../The-ROS2-Project/Platform-EOL-Policy.rst | 4 --- .../Discovery-Server/Discovery-Server.rst | 8 +++-- .../MVSim/Defining-Worlds-MVSim.rst | 4 --- .../MVSim/Getting-Started-MVSim.rst | 4 --- .../Simulators/MVSim/Installation-Ubuntu.rst | 12 +++---- .../Simulators/MVSim/Simulation-MVSim.rst | 4 --- .../Supplementing-Custom-Rosdep-Keys.rst | 4 --- source/Tutorials/Demos/Managed-Nodes.rst | 4 --- .../Marker-Points-and-Lines.rst | 4 --- .../Marker-Sending-Basic-Shapes.rst | 4 --- .../Tutorials/Intermediate/Testing/Python.rst | 8 +++-- 18 files changed, 22 insertions(+), 102 deletions(-) delete mode 100644 source/How-To-Guides/Topics-Services-Actions.rst diff --git a/source/About-ROS.rst b/source/About-ROS.rst index 05fe7db14e9..f6e69de0668 100644 --- a/source/About-ROS.rst +++ b/source/About-ROS.rst @@ -8,10 +8,6 @@ This article introduces the main areas of the ecosystem and outlines their inten **Area: ROS-framework, ROS-tools, ROS-capabilities | Content-type: about | Experience: beginner** -.. contents:: Table of Contents - :depth: 2 - :local: - Summary ------- diff --git a/source/Concepts/Basic/Interfaces-Topics-Services-Actions.rst b/source/Concepts/Basic/Interfaces-Topics-Services-Actions.rst index dddf9a89415..da33ab3dd7a 100644 --- a/source/Concepts/Basic/Interfaces-Topics-Services-Actions.rst +++ b/source/Concepts/Basic/Interfaces-Topics-Services-Actions.rst @@ -13,10 +13,6 @@ With this information, you'll be able to select the right interfaces for your pu **Area: ROS-framework | Content-type: concept | Experience: beginner** -.. contents:: Table of Contents - :depth: 2 - :local: - .. toctree:: :hidden: diff --git a/source/First-Steps.rst b/source/First-Steps.rst index 9f9783c3f7e..ee2f626d3b5 100644 --- a/source/First-Steps.rst +++ b/source/First-Steps.rst @@ -9,10 +9,6 @@ Working through these will give you the essential knowledge needed to start deve **Area: ROS-framework | Content-type: learning-path | Experience: beginner** -.. contents:: Contents - :depth: 2 - :local: - Summary ------- diff --git a/source/How-To-Guides/Topics-Services-Actions.rst b/source/How-To-Guides/Topics-Services-Actions.rst deleted file mode 100644 index a9a90d4a89c..00000000000 --- a/source/How-To-Guides/Topics-Services-Actions.rst +++ /dev/null @@ -1,35 +0,0 @@ -.. _TopicsServicesActions: - -Topics vs Services vs Actions -============================= - -When designing a system there are three primary styles of interfaces. -The specifications for the content is in the :doc:`Interfaces Overview <../Concepts/Basic/About-Interfaces>`. -This is written to provide the reader with guidelines about when to use each type of interface. - -Topics ------- - -* Should be used for continuous data streams (sensor data, robot state, ...) -* Are for continuous data flow. - Data might be published and subscribed at any time independent of any senders/receivers. - Many to many connection. - Callbacks receive data once it is available. - The publisher decides when data is sent. - -Services --------- - -* Should be used for remote procedure calls that terminate quickly, e.g. for querying the state of a node or doing a quick calculation such as IK. - They should never be used for longer running processes, in particular processes that might be required to preempt if exceptional situations occur and they should never change or depend on state to avoid unwanted side effects for other nodes. - -Actions -------- - -* Should be used for any discrete behavior that moves a robot or that runs for a longer time but provides feedback during execution. -* The most important property of actions is that they can be preempted and preemption should always be implemented cleanly by action servers. -* Actions can keep state for the lifetime of a goal, i.e. if executing two action goals in parallel on the same server, for each client a separate state instance can be kept since the goal is uniquely identified by its id. -* Slow perception routines which take several seconds to terminate or initiating a lower-level control mode are good use cases for actions. -* More complex non-blocking background processing. - Used for longer tasks like execution of robot actions. - Semantically for real-world actions. diff --git a/source/Installation/ROS-2-Mirrors.rst b/source/Installation/ROS-2-Mirrors.rst index 16558c9478e..fbae6ce6c0c 100644 --- a/source/Installation/ROS-2-Mirrors.rst +++ b/source/Installation/ROS-2-Mirrors.rst @@ -2,9 +2,6 @@ Mirrors ======= -.. contents:: Table of Contents - :depth: 3 - Docs Mirrors ------------ diff --git a/source/Releases/Lyrical-Luth-Complete-Changelog.rst b/source/Releases/Lyrical-Luth-Complete-Changelog.rst index d1a2b644ed5..bc26245fff1 100644 --- a/source/Releases/Lyrical-Luth-Complete-Changelog.rst +++ b/source/Releases/Lyrical-Luth-Complete-Changelog.rst @@ -3,9 +3,6 @@ ROS 2 Lyrical Luth Complete Changelog This page is a list of the complete changes in all ROS 2 core packages since the previous release. -.. contents:: Table of Contents - :local: - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ `action_msgs `__ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/source/Releases/Release-Lyrical-Luth.rst b/source/Releases/Release-Lyrical-Luth.rst index 08dbabde89b..28b92f2b4fe 100644 --- a/source/Releases/Release-Lyrical-Luth.rst +++ b/source/Releases/Release-Lyrical-Luth.rst @@ -5,6 +5,13 @@ Lyrical Luth (codename 'lyrical'; May, 2026) ============================================ +.. toctree:: + :hidden: + + Lyrical-Luth-Complete-Changelog + lyrical/release-timeline.rst + lyrical/supported-platforms.rst + *Lyrical Luth* is the twelfth release of ROS 2. It is a Long Term Support (LTS) release, and it is supported until May 2031. @@ -18,10 +25,6 @@ New Features in Lyrical This section highlights some of the new features in ROS Lyrical. For all changes, see the :doc:`full ROS Lyrical changelog `. -.. contents:: Table of Contents - :depth: 1 - :local: - Callback Group Events executor (``rclcpp``) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/source/The-ROS2-Project/Platform-EOL-Policy.rst b/source/The-ROS2-Project/Platform-EOL-Policy.rst index 28dfaffb8ea..141c4dc8bb2 100644 --- a/source/The-ROS2-Project/Platform-EOL-Policy.rst +++ b/source/The-ROS2-Project/Platform-EOL-Policy.rst @@ -3,10 +3,6 @@ Platform EOL Policy =================== -.. contents:: Table of Contents - :depth: 1 - :local: - :doc:`ROS distributions <../Releases>` do not support end-of-life (EOL) platforms, even if the ROS distribution is still active. This page explains: diff --git a/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst b/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst index ac31bcd357d..ffba54ab2c7 100644 --- a/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst +++ b/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst @@ -490,15 +490,17 @@ To support more participants, increase ``mutation_tries`` by applying the follow Save this file (e.g. as ``large_scale_configuration.xml``) and set the environment variable before launching your nodes: -.. tabs:: +.. tab-set:: - .. group-tab:: Linux + .. tab-item:: Linux + :sync: Linux .. code-block:: console $ export FASTDDS_DEFAULT_PROFILES_FILE=large_scale_configuration.xml - .. group-tab:: Windows + .. tab-item:: Windows + :sync: Windows .. code-block:: console diff --git a/source/Tutorials/Advanced/Simulators/MVSim/Defining-Worlds-MVSim.rst b/source/Tutorials/Advanced/Simulators/MVSim/Defining-Worlds-MVSim.rst index 7845df49bc4..2cb180151ab 100644 --- a/source/Tutorials/Advanced/Simulators/MVSim/Defining-Worlds-MVSim.rst +++ b/source/Tutorials/Advanced/Simulators/MVSim/Defining-Worlds-MVSim.rst @@ -7,10 +7,6 @@ Defining worlds, robots, and sensors **Time:** 30 minutes -.. contents:: Contents - :depth: 2 - :local: - Background ---------- diff --git a/source/Tutorials/Advanced/Simulators/MVSim/Getting-Started-MVSim.rst b/source/Tutorials/Advanced/Simulators/MVSim/Getting-Started-MVSim.rst index fed890d0178..053b0a3d60c 100644 --- a/source/Tutorials/Advanced/Simulators/MVSim/Getting-Started-MVSim.rst +++ b/source/Tutorials/Advanced/Simulators/MVSim/Getting-Started-MVSim.rst @@ -7,10 +7,6 @@ Getting started with MVSim **Time:** 20 minutes -.. contents:: Contents - :depth: 2 - :local: - Background ---------- diff --git a/source/Tutorials/Advanced/Simulators/MVSim/Installation-Ubuntu.rst b/source/Tutorials/Advanced/Simulators/MVSim/Installation-Ubuntu.rst index 4f716e4ed7b..1543d87cb6e 100644 --- a/source/Tutorials/Advanced/Simulators/MVSim/Installation-Ubuntu.rst +++ b/source/Tutorials/Advanced/Simulators/MVSim/Installation-Ubuntu.rst @@ -7,10 +7,6 @@ Installation (Ubuntu) **Time:** 10 minutes -.. contents:: Contents - :depth: 2 - :local: - Background ---------- @@ -37,9 +33,10 @@ Tasks You can either install the released binary package or build from sources. -.. tabs:: +.. tab-set:: - .. group-tab:: Install from ROS binary packages + .. tab-item:: Install from ROS binary packages + :sync: Install from ROS binary packages Run the following command in a terminal: @@ -47,7 +44,8 @@ You can either install the released binary package or build from sources. $ sudo apt install ros-{DISTRO}-mvsim - .. group-tab:: Build from sources + .. tab-item:: Build from sources + :sync: Build from sources Create a ROS 2 workspace if you don't already have one: diff --git a/source/Tutorials/Advanced/Simulators/MVSim/Simulation-MVSim.rst b/source/Tutorials/Advanced/Simulators/MVSim/Simulation-MVSim.rst index a7d2ef44643..28a2d8f3048 100644 --- a/source/Tutorials/Advanced/Simulators/MVSim/Simulation-MVSim.rst +++ b/source/Tutorials/Advanced/Simulators/MVSim/Simulation-MVSim.rst @@ -9,10 +9,6 @@ sensor simulation (2D/3D LiDARs, cameras, IMUs, GPS), and native ROS 2 integrati MVSim is particularly well-suited for testing navigation, SLAM, and multi-robot coordination scenarios with low computational overhead and fast iteration times. -.. contents:: Contents - :depth: 2 - :local: - .. toctree:: :maxdepth: 1 diff --git a/source/Tutorials/Advanced/Supplementing-Custom-Rosdep-Keys.rst b/source/Tutorials/Advanced/Supplementing-Custom-Rosdep-Keys.rst index 712777738fc..d2d8f212691 100644 --- a/source/Tutorials/Advanced/Supplementing-Custom-Rosdep-Keys.rst +++ b/source/Tutorials/Advanced/Supplementing-Custom-Rosdep-Keys.rst @@ -1,10 +1,6 @@ Supplementing custom rosdep keys ================================ -.. contents:: Contents - :depth: 2 - :local: - Overview and motivation ----------------------- diff --git a/source/Tutorials/Demos/Managed-Nodes.rst b/source/Tutorials/Demos/Managed-Nodes.rst index c3916226f40..b3921239437 100644 --- a/source/Tutorials/Demos/Managed-Nodes.rst +++ b/source/Tutorials/Demos/Managed-Nodes.rst @@ -12,10 +12,6 @@ You can use the example to understand and experiment with managing nodes in this **Area: ROS-framework | Content-type: example | Experience: expert** -.. contents:: Contents - :depth: 2 - :local: - Summary ------- diff --git a/source/Tutorials/Intermediate/RViz/Marker-Points-and-Lines/Marker-Points-and-Lines.rst b/source/Tutorials/Intermediate/RViz/Marker-Points-and-Lines/Marker-Points-and-Lines.rst index e93acfcc8a1..4967c2c8797 100644 --- a/source/Tutorials/Intermediate/RViz/Marker-Points-and-Lines/Marker-Points-and-Lines.rst +++ b/source/Tutorials/Intermediate/RViz/Marker-Points-and-Lines/Marker-Points-and-Lines.rst @@ -7,10 +7,6 @@ Marker: Points and Lines (C++) **Time:** 15 Minutes -.. contents:: Contents - :depth: 3 - :local: - .. note:: This tutorial assumes that you have completed :doc:`Marker: Sending Basic Shapes <../Marker-Sending-Basic-Shapes/Marker-Sending-Basic-Shapes>`. diff --git a/source/Tutorials/Intermediate/RViz/Marker-Sending-Basic-Shapes/Marker-Sending-Basic-Shapes.rst b/source/Tutorials/Intermediate/RViz/Marker-Sending-Basic-Shapes/Marker-Sending-Basic-Shapes.rst index 45a210c0382..f0d3fac6fd9 100644 --- a/source/Tutorials/Intermediate/RViz/Marker-Sending-Basic-Shapes/Marker-Sending-Basic-Shapes.rst +++ b/source/Tutorials/Intermediate/RViz/Marker-Sending-Basic-Shapes/Marker-Sending-Basic-Shapes.rst @@ -7,10 +7,6 @@ Marker: Sending Basic Shapes (C++) **Time:** 15 Minutes -.. contents:: Contents - :depth: 3 - :local: - .. note:: This tutorial assumes you are already comfortable with writing ROS 2 C++ nodes and building packages with ``colcon``. diff --git a/source/Tutorials/Intermediate/Testing/Python.rst b/source/Tutorials/Intermediate/Testing/Python.rst index a29ae584e71..50e38fffca6 100644 --- a/source/Tutorials/Intermediate/Testing/Python.rst +++ b/source/Tutorials/Intermediate/Testing/Python.rst @@ -69,15 +69,17 @@ Beyond the :doc:`standard colcon testing commands ` you can also specify ar For example, you can specify the name of the function to run with -.. tabs:: +.. tab-set:: - .. group-tab:: Linux/macOS + .. tab-item:: Linux/macOS + :sync: Linux/macOS .. code-block:: console $ colcon test --packages-select --pytest-args -k name_of_the_test_function - .. group-tab:: Windows + .. tab-item:: Windows + :sync: Windows .. code-block:: console