ros2 · Shivam-Bhardwaj · Jan 21, 2026
diff --git a/conf.py b/conf.py
@@ -90,6 +90,29 @@
     'sphinxcontrib.mermaid',
 ]
 
+# Linkcheck configuration
+# Ignore patterns for links that return 403 (sites blocking automated requests)
+# or have anchor format issues that aren't actually broken
+linkcheck_ignore = [
+    r'https://www\.zazzle\.com/.*',  # 403 - works in browser
+    r'https://www\.raspberrypi\.com/.*',  # 403 - works in browser
+    r'https://www\.intel\.com/.*',  # 403 - works in browser
+    r'https://www\.science\.org/.*',  # 403 - works in browser
+    r'https://matrix\.to/.*',  # Matrix links use fragment identifiers that aren't anchors
+    r'https://linux\.die\.net/.*',  # 403 - works in browser
+    r'https://pyyaml\.docsforge\.com/.*',  # SSL issues
+    r'https://www2\.cs\.sfu\.ca/.*',  # SSL certificate issues
+]
+
+# Anchors to ignore (patterns that look like anchors but aren't standard HTML anchors)
+linkcheck_anchors_ignore = [
+    r'^L\d+',  # GitHub line number anchors (e.g., #L41, #L399-L401)
+    r'^/\+',  # Matrix.to space identifiers
+    r'^/#',  # Matrix.to room identifiers
+    r'^/!',  # Matrix.to event identifiers
+    r'^t=',  # Video timestamp anchors (e.g., #t=29m15s)
+]
+
 # Intersphinx mapping
 
 intersphinx_mapping = {

diff --git a/source/How-To-Guides/Ament-CMake-Documentation.rst b/source/How-To-Guides/Ament-CMake-Documentation.rst
@@ -289,7 +289,7 @@ In order to separate testing from building the library with colcon, wrap all cal
 Linting
 ^^^^^^^
 
-It's advised to use the combined call from `ament_lint_auto <https://github.com/ament/ament_lint/blob/{REPOS_FILE_BRANCH}/ament_lint_auto/doc/index.rst#ament_lint_auto>`_:
+It's advised to use the combined call from `ament_lint_auto <https://github.com/ament/ament_lint/blob/{REPOS_FILE_BRANCH}/ament_lint_auto/doc/index.rst>`_:
 
 .. code-block:: cmake
 

diff --git a/source/Installation/Maintaining-a-Source-Checkout.rst b/source/Installation/Maintaining-a-Source-Checkout.rst
@@ -8,7 +8,7 @@ Maintain source checkout
   .. note::
 
      For instructions on maintaining a source checkout of the **latest development version** of ROS 2, refer to
-     `Maintaining a source checkout of ROS 2 Rolling <../../rolling/Installation/Maintaining-a-Source-Checkout.html>`__
+     `Maintaining a source checkout of ROS 2 Rolling <https://docs.ros.org/en/rolling/Installation/Maintaining-a-Source-Checkout.html>`__
 
 .. contents::
    :depth: 2

diff --git a/source/Releases/Release-Dashing-Diademata.rst b/source/Releases/Release-Dashing-Diademata.rst
@@ -32,7 +32,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Dashing Diademata <../../dashing/Installation.html>`__
+`Install Dashing Diademata <https://docs.ros.org/en/dashing/Installation.html>`__
 
 New features in this ROS 2 release
 ----------------------------------

diff --git a/source/Releases/Release-Eloquent-Elusor.rst b/source/Releases/Release-Eloquent-Elusor.rst
@@ -32,7 +32,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Eloquent Elusor <../../eloquent/Installation.html>`__
+`Install Eloquent Elusor <https://docs.ros.org/en/eloquent/Installation.html>`__
 
 New features in this ROS 2 release
 ----------------------------------
@@ -44,7 +44,7 @@ A few features and improvements we would like to highlight:
 * `Passing key-value parameters on CLI <https://github.com/ros2/design/pull/245>`__
 * `Support stream logging macros <https://github.com/ros2/rclcpp/pull/926>`__
 * `Per-node logging <https://github.com/ros2/ros2/issues/789>`__ - All stdout/stderr output from nodes are logged in ~/.ros
-* `ros2doctor <https://index.ros.org/doc/ros2/Tutorials/Getting-Started-With-Ros2doctor/>`__
+* `ros2doctor <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Getting-Started-With-Ros2doctor.html>`__
 * `Improved performance of sourcing setup files <https://github.com/ros2/ros2/issues/764>`__
 * rviz: `interactive markers <https://github.com/ros2/rviz/pull/457>`__, `torque ring <https://github.com/ros2/rviz/pull/396>`__, `tf message filters <https://github.com/ros2/rviz/pull/375>`__
 * rqt: `parameter plugin <https://github.com/ros-visualization/rqt_reconfigure/pull/31>`__, `tf tree plugin <https://github.com/ros-visualization/rqt_tf_tree/pull/13>`__, `robot steering plugin <https://github.com/ros-visualization/rqt_robot_steering/pull/7>`__ (also backported to Dashing)

diff --git a/source/Releases/Release-Foxy-Fitzroy.rst b/source/Releases/Release-Foxy-Fitzroy.rst
@@ -29,7 +29,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Foxy Fitzroy <../../foxy/Installation.html>`__
+`Install Foxy Fitzroy <https://docs.ros.org/en/foxy/Installation.html>`__
 
 New features in this ROS 2 release
 ----------------------------------

diff --git a/source/Releases/Release-Galactic-Geochelone.rst b/source/Releases/Release-Galactic-Geochelone.rst
@@ -42,7 +42,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Galactic Geochelone <../../galactic/Installation.html>`__
+`Install Galactic Geochelone <https://docs.ros.org/en/galactic/Installation.html>`__
 
 New features in this ROS 2 release
 ----------------------------------

diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst
@@ -41,7 +41,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Humble Hawksbill <../../humble/Installation.html>`__
+`Install Humble Hawksbill <https://docs.ros.org/en/humble/Installation.html>`__
 
 Changes in Patch Release 1 (2022-11-23)
 ---------------------------------------
@@ -53,7 +53,7 @@ ros2topic
 """"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
 ``ros2 topic pub`` now allows to set a ``builtin_interfaces.msg.Time`` message to the current time via the ``now`` keyword.
 Similarly, a ``std_msg.msg.Header`` message will be automatically generated when passed the keyword ``auto``.
-This behavior matches that of ROS 1's ``rostopic`` (http://wiki.ros.org/ROS/YAMLCommandLine#Headers.2Ftimestamps)
+This behavior matches that of ROS 1's ``rostopic`` (https://wiki.ros.org/ROS/YAMLCommandLine)
 
 Related PR: `ros2/ros2cli#751 <https://github.com/ros2/ros2cli/pull/751>`_
 
@@ -949,7 +949,7 @@ These topics will no longer be automatically added to the bag.
 Known Issues
 ------------
 
-* When `installing ROS 2 on an Ubuntu 22.04 Jammy host <../../humble/Installation/Ubuntu-Install-Debians.html>`__ it is important to update your system before installing ROS 2 packages.
+* When `installing ROS 2 on an Ubuntu 22.04 Jammy host <https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html>`__ it is important to update your system before installing ROS 2 packages.
   It is *particularly* important to make sure that ``systemd`` and ``udev`` are updated to the latest available version otherwise installing ``ros-humble-desktop``, which depends on ``libudev1``, could cause the removal of system critical packages.
   Details can be found in `ros2/ros2#1272 <https://github.com/ros2/ros2/issues/1272>`_ and `Launchpad #1974196 <https://bugs.launchpad.net/ubuntu/+source/systemd/+bug/1974196>`_
 

diff --git a/source/Releases/Release-Iron-Irwini.rst b/source/Releases/Release-Iron-Irwini.rst
@@ -40,7 +40,7 @@ For more information about RMW implementations, compiler / interpreter versions,
 Installation
 ------------
 
-`Install Iron Irwini <../../iron/Installation.html>`__
+`Install Iron Irwini <https://docs.ros.org/en/iron/Installation.html>`__
 
 New features in this ROS 2 release
 ----------------------------------

diff --git a/source/Tutorials/Advanced/Security/Examine-Traffic.rst b/source/Tutorials/Advanced/Security/Examine-Traffic.rst
@@ -30,7 +30,7 @@ In this tutorial we'll take a look at capturing live network traffic to show the
   ``rmw_fastrtps_cpp`` uses `Shared Memory Transport <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/shared_memory/shared_memory.html>`_ by default to improve the performance in the transport layer when the endpoints are in the same host system.
   Security enclaves are still applied, and data will be encrypted.
   However, you cannot capture live network traffic since the data will not be on the network interface.
-  If you are using  ``rmw_fastrtps_cpp``, you need to either go through this tutorial and use a different host system between the publisher and subscriber, or disable shared memory transport with `Enabling UDP Transport <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/udp/udp.html#enabling-udp-transport>`_ and `How to set Fast-DDS XML configuration <https://github.com/ros2/rmw_fastrtps#full-qos-configuration>`_.
+  If you are using  ``rmw_fastrtps_cpp``, you need to either go through this tutorial and use a different host system between the publisher and subscriber, or disable shared memory transport with `Enabling UDP Transport <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/udp/udp.html#enabling-udp-transport>`_ and `How to set Fast-DDS XML configuration <https://github.com/ros2/rmw_fastrtps>`_.
 
 Prerequisites
 -------------

diff --git a/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst b/source/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.rst
@@ -46,7 +46,7 @@ It is also possible to install it from sources.
 Install UTM on your macOS machine.
 The link can be found on the `official UTM website <https://mac.getutm.app/>`_.
 
-Download the ``.iso`` image of `Ubuntu 22.04 <https://cdimage.ubuntu.com/jammy/daily-live/current/>`_ for Humble and Rolling or `Ubuntu 20.04 <https://cdimage.ubuntu.com/focal/daily-live/pending/>`_ for Foxy.
+Download the ``.iso`` image of `Ubuntu 22.04 <https://cdimage.ubuntu.com/jammy/daily-live/current/>`_ for Humble and Rolling or `Ubuntu 20.04 <https://releases.ubuntu.com/focal/>`_ for Foxy.
 Be sure to download the image corresponding to your CPU architecture.
 
 In the UTM software:

diff --git a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
@@ -87,7 +87,7 @@ The ``SpawnNodeFromString`` type expects a ``data`` string as input and returns
 
 From the given string, the Supervisor node is getting the name of the imported node and adding it to an intern list for potential later removal (see :ref:`Remove a Webots imported node`).
 
-The node is imported using the ``importMFNodeFromString(nodeString)`` `API function <https://cyberbotics.com/doc/reference/supervisor?tab-language=python#wb_supervisor_field_import_mf_node_from_string>`_.
+The node is imported using the ``importMFNodeFromString(nodeString)`` `API function <https://cyberbotics.com/doc/reference/supervisor?tab-language=python>`_.
 
 Here is an example to import a simple Robot named ``imported_robot``:
 
@@ -107,7 +107,7 @@ Once a node has been imported with the ``/Ros2Supervisor/spawn_node_from_string`
 
 This can be achieved by sending the name of the node to the topic named ``/Ros2Supervisor/remove_node`` of type ``std_msgs/msg/String``.
 
-If the node is indeed in the imported list, it is removed with the ``remove()`` `API method <https://cyberbotics.com/doc/reference/supervisor?tab-language=python#wb_supervisor_node_remove>`_.
+If the node is indeed in the imported list, it is removed with the ``remove()`` `API method <https://cyberbotics.com/doc/reference/supervisor?tab-language=python>`_.
 
 Here is an example on how to remove the ``imported_robot`` Robot:
 

diff --git a/...torials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.rst b/...torials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.rst
@@ -38,7 +38,7 @@ Prerequisites
 * `git installation <https://git-scm.com/book/en/v2/Getting-Started-Installing-Git>`__
 * :doc:`turtlesim installation <../../Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim>`
 * Have :doc:`rosdep installed <../../Intermediate/Rosdep>`
-* Understanding of basic terminal commands (`here's a guide for Linux <https://www2.cs.sfu.ca/~ggbaker/reference/unix/>`__)
+* Understanding of basic terminal commands (`here's a guide for Linux <https://ubuntu.com/tutorials/command-line-for-beginners>`__)
 * Text editor of your choice
 
 Tasks

diff --git a/source/Tutorials/Intermediate/Rosdep.rst b/source/Tutorials/Intermediate/Rosdep.rst
@@ -141,7 +141,7 @@ What if my library isn't in rosdistro?
 If your library isn't in ``rosdistro``, you can experience the greatness that is open-source software development: you can add it yourself!
 Pull requests for rosdistro are typically merged well within a week.
 
-`Detailed instructions may be found here <https://github.com/ros/rosdistro/blob/master/CONTRIBUTING.md#rosdep-rules-contributions>`_ for how to contribute new rosdep keys.
+`Detailed instructions may be found here <https://github.com/ros/rosdistro/blob/master/CONTRIBUTING.md>`_ for how to contribute new rosdep keys.
 If for some reason these may not be contributed openly, it is possible to fork rosdistro and maintain a alternate index for use.
 
 How do I use the rosdep tool?

diff --git a/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst b/source/Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.rst
@@ -453,7 +453,7 @@ a) Creating the Cluster
 ^^^^^^^^^^^^^^^^^^^^^^^
 
 Create a cluster using the Console.
-The instructions are found `here <https://cloud.ibm.com/docs/containers?topic=containers-clusters#clusters_ui>`__.
+The instructions are found `here <https://cloud.ibm.com/docs/containers?topic=containers-clusters>`__.
 The settings used are detailed below.
 These are merely suggestions and can be changed if you need to.
 However, make sure you understand the implications of your choices:
@@ -526,7 +526,7 @@ b) Deploying your Docker Image *Finally!*
            image: <region>.icr.io/<namespace>/<image>:<tag>
 
 You should replace the tags shown between *"<" ">"* as described
-`here <https://cloud.ibm.com/docs/containers?topic=containers-images#namespace>`__.
+`here <https://cloud.ibm.com/docs/containers?topic=containers-images>`__.
 The file in my case would look something like this:
 
 .. code-block:: bash
-Original file line number
+Diff line change
@@ Expand Up @@
     Linting
     ^^^^^^^
-    It's advised to use the combined call from `ament_lint_auto <https://github.com/ament/ament_lint/blob/{REPOS_FILE_BRANCH}/ament_lint_auto/doc/index.rst#ament_lint_auto>`_:
+    It's advised to use the combined call from `ament_lint_auto <https://github.com/ament/ament_lint/blob/{REPOS_FILE_BRANCH}/ament_lint_auto/doc/index.rst>`_:
     .. code-block:: cmake
@@ Expand Down @@