Adding $ to some How-To-Guides

source/Concepts/Basic/About-Command-Line-Tools.rst

@@ -19,9 +19,9 @@ The main entry point for the tools is the command ``ros2``, which itself has var
 
 To see all available sub-commands run:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 --help
+   $ ros2 --help
 
 Examples of sub-commands that are available include:
 

source/Concepts/Intermediate/About-RQt.rst

@@ -19,24 +19,24 @@ The tools can still run in a traditional standalone method, but RQt makes it eas
 
 You can run any RQt tools/plugins easily by:
 
-.. code-block:: bash
+.. code-block:: console
 
-   rqt
+   $ rqt
 
 This GUI allows you to choose any available plugins on your system.
 You can also run plugins in standalone windows.
 For example, RQt Python Console:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 run rqt_py_console rqt_py_console
+   $ ros2 run rqt_py_console rqt_py_console
 
 Users can create their own plugins for RQt with either ``Python`` or ``C++``.
 To see what RQt plugins are available for your system, run:
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 pkg list
+   $ ros2 pkg list
 
 And then look for packages that start with ``rqt_``.
 
@@ -46,9 +46,9 @@ System setup
 Installing From debs
 ^^^^^^^^^^^^^^^^^^^^
 
-.. code-block:: bash
+.. code-block:: console
 
-   sudo apt install ros-{DISTRO}-rqt*
+   $ sudo apt install ros-{DISTRO}-rqt*
 
 
 RQt Components Structure

source/How-To-Guides/Ament-CMake-Documentation.rst

@@ -628,11 +628,11 @@ A recommended best practice when defining environment hooks is to place them wit
 
 Inside your created ``hooks`` folder, create a ``my_package.sh.in`` as follows:
 
-.. code-block:: bash
+.. code-block:: console
 
-    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-    export RMW_FASTRTPS_USE_QOS_FROM_XML=1
-    export FASTRTPS_DEFAULT_PROFILES_FILE="$COLCON_CURRENT_PREFIX/my_dds_profile.xml"
+    $ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    $ export RMW_FASTRTPS_USE_QOS_FROM_XML=1
+    $ export FASTRTPS_DEFAULT_PROFILES_FILE="$COLCON_CURRENT_PREFIX/my_dds_profile.xml"
 
 In the same folder, create a ``my_package.dsv.in`` file as follows:
 

source/How-To-Guides/Building-ROS-2-with-Tracing.rst

@@ -47,41 +47,41 @@ To remove the tracepoints, (re)build ``tracetools`` and set the ``TRACETOOLS_TRA
 
   .. group-tab:: Source installation
 
-    .. code-block:: bash
+    .. code-block:: console
 
-       cd ~/ros2_{DISTRO}
-       colcon build --packages-select tracetools --cmake-clean-cache --cmake-args -DTRACETOOLS_TRACEPOINTS_EXCLUDED=ON
+       $ cd ~/ros2_{DISTRO}
+       $ colcon build --packages-select tracetools --cmake-clean-cache --cmake-args -DTRACETOOLS_TRACEPOINTS_EXCLUDED=ON
 
   .. group-tab:: Binary installation
 
     Clone the ``ros2_tracing`` repository into your workspace and build:
 
-    .. code-block:: bash
+    .. code-block:: console
 
-       cd ~/ws
-       git clone https://github.com/ros2/ros2_tracing.git -b {DISTRO} src/ros2_tracing
-       colcon build --packages-select tracetools --cmake-args -DTRACETOOLS_TRACEPOINTS_EXCLUDED=ON
+       $ cd ~/ws
+       $ git clone https://github.com/ros2/ros2_tracing.git -b {DISTRO} src/ros2_tracing
+       $ colcon build --packages-select tracetools --cmake-args -DTRACETOOLS_TRACEPOINTS_EXCLUDED=ON
 
 Building without instrumentation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 To completely remove both tracepoints and function calls, :doc:`build ROS 2 from source <../Installation/Alternatives/Ubuntu-Development-Setup>` and set the ``TRACETOOLS_DISABLED`` CMake option to ``ON``:
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ~/ros2_{DISTRO}
-   colcon build --cmake-args -DTRACETOOLS_DISABLED=ON --no-warn-unused-cli
+   $ cd ~/ros2_{DISTRO}
+   $ colcon build --cmake-args -DTRACETOOLS_DISABLED=ON --no-warn-unused-cli
 
 Validating
 ----------
 
 Validate that tracing is disabled:
 
-.. code-block:: bash
+.. code-block:: console
 
-   cd ~/ws
-   source install/setup.bash
-   ros2 run tracetools status
+   $ cd ~/ws
+   $ source install/setup.bash
+   $ ros2 run tracetools status
 
 It should print out:
 

source/How-To-Guides/Configure-ZeroCopy-loaned-messages.rst

@@ -152,7 +152,7 @@ The requirements for loaned messages are that the message type is a Plain Old Da
 
 We can run the demo by running the ``ros2 run demo_nodes_cpp talker_loaned_message`` executable (don't forget to source the setup file first):
 
-.. code-block:: bash
+.. code-block:: console
 
     $ ros2 run demo_nodes_cpp talker_loaned_message
     [INFO] [1741063656.446278828] [loaned_message_talker]: Publishing: '1.000000'
@@ -167,7 +167,7 @@ We can run the demo by running the ``ros2 run demo_nodes_cpp talker_loaned_messa
 If the RMW implementation does not support loaned messages, all the messages will be allocated with the allocator instance provided by the publisher.
 We can try that by executing ``RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp talker_loaned_message``.
 
-.. code-block:: bash
+.. code-block:: console
 
     $ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp talker_loaned_message
     [INFO] [1741064109.676860153] [rclcpp]: Currently used middleware cannot loan messages. Local allocator will be used.
@@ -198,37 +198,37 @@ You can set the environment variable with the following command:
 
       .. code-block:: console
 
-        export ROS_DISABLE_LOANED_MESSAGES=1
+        $ export ROS_DISABLE_LOANED_MESSAGES=1
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DISABLE_LOANED_MESSAGES=1" >> ~/.bashrc
+        $ echo "export ROS_DISABLE_LOANED_MESSAGES=1" >> ~/.bashrc
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        export ROS_DISABLE_LOANED_MESSAGES=1
+        $ export ROS_DISABLE_LOANED_MESSAGES=1
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DISABLE_LOANED_MESSAGES=1" >> ~/.bash_profile
+        $ echo "export ROS_DISABLE_LOANED_MESSAGES=1" >> ~/.bash_profile
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-        set ROS_DISABLE_LOANED_MESSAGES=1
+        $ set ROS_DISABLE_LOANED_MESSAGES=1
 
       If you want to make this permanent between shell sessions, also run:
 
       .. code-block:: console
 
-        setx ROS_DISABLE_LOANED_MESSAGES 1
+        $ setx ROS_DISABLE_LOANED_MESSAGES 1
 
 
 Subscriptions
@@ -244,34 +244,34 @@ To enable *Loaned Messages* on subscription, you need to set the environment var
 
       .. code-block:: console
 
-        export ROS_DISABLE_LOANED_MESSAGES=0
+        $ export ROS_DISABLE_LOANED_MESSAGES=0
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DISABLE_LOANED_MESSAGES=0" >> ~/.bashrc
+        $ echo "export ROS_DISABLE_LOANED_MESSAGES=0" >> ~/.bashrc
 
    .. group-tab:: macOS
 
       .. code-block:: console
 
-        export ROS_DISABLE_LOANED_MESSAGES=0
+        $ export ROS_DISABLE_LOANED_MESSAGES=0
 
       To maintain this setting between shell sessions, you can add the command to your shell startup script:
 
       .. code-block:: console
 
-        echo "export ROS_DISABLE_LOANED_MESSAGES=0" >> ~/.bash_profile
+        $ echo "export ROS_DISABLE_LOANED_MESSAGES=0" >> ~/.bash_profile
 
    .. group-tab:: Windows
 
       .. code-block:: console
 
-        set ROS_DISABLE_LOANED_MESSAGES=0
+        $ set ROS_DISABLE_LOANED_MESSAGES=0
 
       If you want to make this permanent between shell sessions, also run:
 
       .. code-block:: console
 
-        setx ROS_DISABLE_LOANED_MESSAGES 0
+        $ setx ROS_DISABLE_LOANED_MESSAGES 0

source/How-To-Guides/DDS-tuning.rst

@@ -44,7 +44,7 @@ Reduce the value, for example, to 3s, by running:
 
 .. code-block:: console
 
-    sudo sysctl net.ipv4.ipfrag_time=3
+    $ sudo sysctl net.ipv4.ipfrag_time=3
 
 Reducing this parameter's value also reduces the window of time where no fragments are received.
 The parameter is global for all incoming fragments, so the feasibility of reducing its value needs to be considered for every environment.
@@ -58,7 +58,7 @@ Increase the value, for example, to 128MB, by running:
 
 .. code-block:: console
 
-    sudo sysctl net.ipv4.ipfrag_high_thresh=134217728     # (128 MB)
+    $ sudo sysctl net.ipv4.ipfrag_high_thresh=134217728     # (128 MB)
 
 Significantly increasing this parameter's value is an attempt to ensure that the buffer never becomes completely full.
 However, the value would likely have to be significantly high to hold all data received during the time window of ``ipfrag_time``, assuming every UDP packet lacks one fragment.
@@ -112,7 +112,7 @@ Set the maximum receive buffer size, ``rmem_max``, by running:
 
  .. code-block:: console
 
-    sudo sysctl -w net.core.rmem_max=2147483647
+    $ sudo sysctl -w net.core.rmem_max=2147483647
 
 Or permanently set it by editing the ``/etc/sysctl.d/10-cyclone-max.conf`` file to contain:
 
@@ -151,7 +151,7 @@ Set the maximum receive buffer size, ``rmem_max``, by running:
 
  .. code-block:: console
 
-    sudo sysctl -w net.core.rmem_max=4194304
+    $ sudo sysctl -w net.core.rmem_max=4194304
 
 By tuning ``net.core.rmem_max`` to 4MB in the Linux kernel, the QoS profile can produce truly reliable behavior.
 

source/How-To-Guides/Developing-a-ROS-2-Package.rst

@@ -28,9 +28,9 @@ Creating a package
 
 All ROS 2 packages begin by running the command
 
-.. code-block:: bash
+.. code-block:: console
 
-   ros2 pkg create --license Apache-2.0 <pkg-name> --dependencies [deps]
+   $ ros2 pkg create --license Apache-2.0 <pkg-name> --dependencies [deps]
 
 in your workspace (usually ``~/ros2_ws/src``).
 
@@ -42,13 +42,13 @@ To create a package for a specific client library:
 
     .. code-block:: bash
 
-       ros2 pkg create  --build-type ament_cmake --license Apache-2.0 <pkg-name> --dependencies [deps]
+       $ ros2 pkg create  --build-type ament_cmake --license Apache-2.0 <pkg-name> --dependencies [deps]
 
   .. group-tab:: Python
 
     .. code-block:: bash
 
-       ros2 pkg create  --build-type ament_python --license Apache-2.0 <pkg-name> --dependencies [deps]
+       $ ros2 pkg create  --build-type ament_python --license Apache-2.0 <pkg-name> --dependencies [deps]
 
 You can then update the ``package.xml`` with your package info such as dependencies, descriptions, and authorship.
 

source/How-To-Guides/Documenting-a-ROS-2-Package.rst

@@ -38,7 +38,7 @@ To generate the documentation for a package in HTML format with ``rosdoc2``, run
 
 .. code-block:: console
 
-   rosdoc2 build --package-path <package-path>
+   $ rosdoc2 build --package-path <package-path>
 
 The documentation is written to ``docs_output/<package-name>/index.html`` and can be viewed in a browser.
 
@@ -61,7 +61,7 @@ To generate a default ``rosdoc2.yaml`` which you can then further customize, run
 
 .. code-block:: console
 
-   rosdoc2 default_config --package-path <package-path>
+   $ rosdoc2 default_config --package-path <package-path>
 
 And add ``<rosdoc2>rosdoc2.yaml</rosdoc2>`` to the export section in your ``package.xml``:
 

source/How-To-Guides/Getting-Backtraces-in-ROS-2.rst

@@ -98,9 +98,9 @@ Here's how to ensure your ROS2 code is ready for debugging:
 
 - By using ``--cmake-args``: The easiest way to include debug symbols is by adding ``--cmake-args -DCMAKE_BUILD_TYPE=Debug`` to your ``colcon build`` command:
 
-.. code-block:: bash
+.. code-block:: console
 
-  colcon build --packages-up-to <package_name> --cmake-args -DCMAKE_BUILD_TYPE=Debug
+  $ colcon build --packages-up-to <package_name> --cmake-args -DCMAKE_BUILD_TYPE=Debug
 
 - By editing ``CMakeLists.txt`` : Another way is to add ``-g`` to your compiler flags for the ROS package you want to profile / debug.
   This flag builds debug symbols that GDB can read to tell you specific lines of code in your project are failing and why.
@@ -115,7 +115,7 @@ However, since this is a ROS project with lots of node configurations and other
 
 .. code-block:: bash
 
-  gdb ex run --args /path/to/exe/program
+  $ gdb ex run --args /path/to/exe/program
 
 Below are sections to describe the three major situations you could run into with ROS 2-based systems.
 Read the section that best describes the problem you're attempting to solve.
@@ -145,7 +145,7 @@ This allows us to use the same ``ros2 run`` syntax you're used to without having
 
 .. code-block:: bash
 
-  ros2 run --prefix 'gdb -ex run --args' <pkg> <node> --all-other-launch arguments
+  $ ros2 run --prefix 'gdb -ex run --args' <pkg> <node> --all-other-launch arguments
 
 **The GDB Experience**
 
@@ -321,29 +321,29 @@ Since the previous build type may be cached by CMake, clean the cache and rebuil
 
 .. code-block:: console
 
-  colcon build --cmake-clean-cache --mixin debug
+  $ colcon build --cmake-clean-cache --mixin debug
 
 In order for GDB to load debug symbols for any shared libraries called, make sure to source your environment.
 This configures the value of ``LD_LIBRARY_PATH``.
 
 .. code-block:: console
 
-  source install/setup.bash
+  $ source install/setup.bash
 
 Finally, run the test directly through GDB.
 For example:
 
 .. code-block:: console
 
-  gdb -ex run ./build/rcl/test/test_logging
+  $ gdb -ex run ./build/rcl/test/test_logging
 
 If the code is throwing an unhandled exception, you can catch it in GDB before gtest handles it.
 
 .. code-block:: console
 
-  gdb ./build/rcl/test/test_logging
-  catch throw
-  run
+  $ gdb ./build/rcl/test/test_logging
+  $ catch throw
+  $ run
 
 Automatic backtrace on crash
 ----------------------------