Merge branch 'rolling' into new-win-bin-install

Author: knmcguire

source/Concepts.rst

@@ -15,8 +15,3 @@ Related Content
 ^^^^^^^^^^^^^^^
 
 :doc:`See the ROS 2 citations <Citations>` for more explanation of concepts and citable resources.
-
-For a brief video introduction to ROS 2, see this community contributed content:
-
-* `Getting started with ROS Part 1: Nodes, Parameters and Topics <https://youtu.be/46TPAKXBOF8>`_
-* `Getting started with ROS Part 2: Services and Actions <https://youtu.be/keZAJ83eEoM>`_

source/Concepts/Intermediate/About-RQt.rst

@@ -81,7 +81,3 @@ Further Reading
 * ROS 2 Discourse `announcement of porting to ROS 2 <https://discourse.ros.org/t/rqt-in-ros2/6428>`__)
 * `RQt for ROS 1 documentation <https://wiki.ros.org/rqt>`__
 * Brief overview of RQt (from `a Willow Garage intern blog post <http://web.archive.org/web/20130518142837/http://www.willowgarage.com/blog/2012/10/21/ros-gui>`__)
-
-  .. raw:: html
-
-     <iframe width="560" height="315" src="https://www.youtube-nocookie.com/embed/CyP9wHu2PpY" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst

@@ -94,7 +94,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes/src`` directory, create a new file c
 
         writer_->open("my_bag");
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
           writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
@@ -144,7 +144,7 @@ We will write data to the bag in the callback.
 
 .. code-block:: C++
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
           writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
@@ -162,7 +162,7 @@ We do this for two reasons.
 
 .. code-block:: C++
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
 
 Within the subscription callback, the first thing to do is determine the time stamp to use for the stored message.
 This can be anything appropriate to your data, but two common values are the time at which the data was produced, if known, and the time it is received.

source/Tutorials/Advanced/Simulators/Webots/Code/MyRobotDriver.cpp

@@ -25,7 +25,7 @@ void MyRobotDriver::init(
 
   cmd_vel_subscription_ = node->create_subscription<geometry_msgs::msg::Twist>(
       "/cmd_vel", rclcpp::SensorDataQoS().reliable(),
-      [this](const geometry_msgs::msg::Twist::SharedPtr msg){
+      [this](const geometry_msgs::msg::Twist::ConstSharedPtr msg){
         this->cmd_vel_msg.linear = msg->linear;
         this->cmd_vel_msg.angular = msg->angular;
       }

source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.cpp

@@ -7,26 +7,26 @@ ObstacleAvoider::ObstacleAvoider() : Node("obstacle_avoider") {
 
   left_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
       "/left_sensor", 1,
-      [this](const sensor_msgs::msg::Range::SharedPtr msg){
+      [this](const sensor_msgs::msg::Range::ConstSharedPtr msg){
         return this->leftSensorCallback(msg);
       }
   );
 
   right_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
       "/right_sensor", 1,
-      [this](const sensor_msgs::msg::Range::SharedPtr msg){
+      [this](const sensor_msgs::msg::Range::ConstSharedPtr msg){
         return this->rightSensorCallback(msg);
       }
   );
 }
 
 void ObstacleAvoider::leftSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   left_sensor_value = msg->range;
 }
 
 void ObstacleAvoider::rightSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   right_sensor_value = msg->range;
 
   auto command_message = std::make_unique<geometry_msgs::msg::Twist>();

source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.hpp

@@ -9,8 +9,8 @@ class ObstacleAvoider : public rclcpp::Node {
   explicit ObstacleAvoider();
 
 private:
-  void leftSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
-  void rightSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
+  void leftSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
+  void rightSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
 
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
   rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr left_sensor_sub_;

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

@@ -263,5 +263,3 @@ Related content
 ---------------
 
 The turtlesim package can be found in the `ros_tutorials <https://github.com/ros/ros_tutorials/tree/{REPOS_FILE_BRANCH}/turtlesim>`_ repo.
-
-`This community contributed video <https://youtu.be/xwT7XWflMdc>`_ demonstrates many of the items covered in this tutorial.

source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst

@@ -184,9 +184,11 @@ This allows the installed files to be changed by changing the files in the ``sou
 
     .. code-block:: console
 
-      $ colcon build --symlink-install --merge-install
+      $ colcon build --merge-install
 
     Windows doesn't allow long paths, so ``merge-install`` will combine all the paths into the ``install`` directory.
+    On Windows, you need special permissions to create symbolic links, so ``--symlink-install`` is not used by default.
+    To use it, you need to run the command as administrator or enable developer mode in system settings.
 
 .. tip::