ros2 · fujitatomoya · Apr 24, 2025 · Apr 24, 2025 · Apr 24, 2025
diff --git a/Makefile b/Makefile
@@ -8,7 +8,7 @@ ifeq ($(OS),Windows_NT)
     PYTHON := python
 endif
 BUILD      = $(PYTHON) -m sphinx
-OPTS       =-c .
+OPTS       =-c . -W # Treat warnings as errors
 
 help:
 	@$(BUILD) -M help "$(SOURCE)" "$(OUT)" $(OPTS)

diff --git a/source/Concepts/Intermediate/About-Different-Middleware-Vendors.rst b/source/Concepts/Intermediate/About-Different-Middleware-Vendors.rst
@@ -64,7 +64,7 @@ Multiple RMW implementations
 The ROS 2 binary releases for currently active distros have built-in support for several RMW implementations out of the box (Fast DDS, RTI Connext Pro, Eclipse Cyclone DDS, GurumNetworks GurumDDS).
 The default is Fast DDS, which works without any additional installation steps because we distribute it with our binary packages.
 
-Other RMWs like Cyclone DDS, Connext or GurumDDS can be enabled by :doc:`installing additional packages <../../Installation/DDS-Implementations>`, but without having to rebuild anything or replace any existing packages.
+Other RMWs like Cyclone DDS, Connext or GurumDDS can be enabled by :doc:`installing additional packages <../../Installation/RMW-Implementations>`, but without having to rebuild anything or replace any existing packages.
 
 A ROS 2 workspace that has been built from source may build and install multiple RMW implementations simultaneously.
 While the core ROS 2 code is being compiled, any RMW implementation that is found will be built if the relevant DDS/RTPS implementation has been installed properly and the relevant environment variables have been configured.

diff --git a/source/How-To-Guides/Working-with-multiple-RMW-implementations.rst b/source/How-To-Guides/Working-with-multiple-RMW-implementations.rst
@@ -22,7 +22,7 @@ Specifying RMW implementations
 ------------------------------
 
 To have multiple RMW implementations available for use you must have installed the ROS 2 binaries and any additional dependencies for specific RMW implementations, or built ROS 2 from source with multiple RMW implementations in the workspace (the RMW implementations are included in the build by default if their compile-time dependencies are met).
-See :doc:`Install DDS implementations <../Installation/DDS-Implementations>`.
+See :doc:`Install RMW implementations <../Installation/RMW-Implementations>`.
 
 ----
 
@@ -67,7 +67,7 @@ Adding RMW implementations to your workspace
 --------------------------------------------
 
 Additional DDS and RMW implementations can be added to your workspace by installing the necessary dependencies and rebuilding the workspace.
-See the :doc:`DDS implementations <../Installation/DDS-Implementations>` page for more information about installing the available DDS options.
+See the :doc:`RMW implementations <../Installation/RMW-Implementations>` page for more information about installing the available DDS options.
 
 Suppose that you have built your ROS 2 workspace with only Fast DDS installed and therefore only the Fast DDS RMW implementation built.
 The last time your workspace was built, any other RMW implementation packages, ``rmw_connextdds`` for example, were probably unable to find installations of the relevant DDS implementations.

diff --git a/source/Installation/Alternatives/RHEL-Development-Setup.rst b/source/Installation/Alternatives/RHEL-Development-Setup.rst
@@ -106,7 +106,7 @@ Install dependencies using rosdep
 Install additional DDS implementations (optional)
 -------------------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Build the code in the workspace
 -------------------------------

diff --git a/source/Installation/Alternatives/RHEL-Install-Binary.rst b/source/Installation/Alternatives/RHEL-Install-Binary.rst
@@ -84,7 +84,7 @@ Set your rosdistro according to the release you downloaded.
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Environment setup
 -----------------

diff --git a/source/Installation/Alternatives/Ubuntu-Development-Setup.rst b/source/Installation/Alternatives/Ubuntu-Development-Setup.rst
@@ -123,7 +123,7 @@ Install dependencies using rosdep
 Install additional DDS implementations (optional)
 -------------------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Build the code in the workspace
 -------------------------------

diff --git a/source/Installation/Alternatives/Ubuntu-Install-Binary.rst b/source/Installation/Alternatives/Ubuntu-Install-Binary.rst
@@ -83,7 +83,7 @@ If you are going to build ROS packages or otherwise do development, you can also
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Environment setup
 -----------------

diff --git a/source/Installation/Alternatives/Windows-Development-Setup.rst b/source/Installation/Alternatives/Windows-Development-Setup.rst
@@ -88,7 +88,7 @@ Install additional DDS implementations (optional)
 
 Fast DDS is bundled with the ROS 2 source and will always be built unless you put an ``COLCON_IGNORE`` file in the ``src\eProsima`` folder.
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Build the ROS 2 code
 --------------------

diff --git a/source/Installation/Alternatives/macOS-Development-Setup.rst b/source/Installation/Alternatives/macOS-Development-Setup.rst
@@ -127,7 +127,7 @@ Create a workspace and clone all repos:
 Install additional DDS vendors (optional)
 -----------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.
 
 Build the ROS 2 code
 --------------------

diff --git a/source/Installation/Windows-Install-Binary.rst b/source/Installation/Windows-Install-Binary.rst
@@ -42,7 +42,7 @@ Downloading ROS 2
 Install additional DDS implementations (optional)
 -------------------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, Fast DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, Fast DDS, you can find instructions :doc:`here <RMW-Implementations>`.
 
 Environment setup
 -----------------

diff --git a/source/Tutorials/Advanced/Security/Introducing-ros2-security.rst b/source/Tutorials/Advanced/Security/Introducing-ros2-security.rst
@@ -77,9 +77,9 @@ Fast DDS requires an additional CMake flag to build the security plugins, so the
 Selecting an alternate middleware
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you choose not to use the default middleware implementation, be sure to :doc:`change your DDS implementation <../../../Installation/DDS-Implementations/>` before proceeding.
+If you choose not to use the default middleware implementation, be sure to :doc:`change your RMW implementation <../../../Installation/RMW-Implementations/>` before proceeding.
 
-ROS 2 allows you to change the DDS implementation at runtime.
+ROS 2 allows you to change the RMW implementation at runtime.
 See `how to work with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>` to explore different middleware implementations.
 
 Note that secure communication between vendors is not supported.