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Wrap documentation examples in code blocks (ros2#830)
This makes the code examples easier to read in the generated documentation. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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‎rclcpp/include/rclcpp/node.hpp‎

Lines changed: 46 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -151,15 +151,17 @@ class Node : public std::enable_shared_from_this<Node>
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*
152152
* For example, all of these cases will work:
153153
*
154-
* pub = node->create_publisher<MsgT>("chatter", 10); // implicitly KeepLast
155-
* pub = node->create_publisher<MsgT>("chatter", QoS(10)); // implicitly KeepLast
156-
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
157-
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
158-
* pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
159-
* {
160-
* rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
161-
* pub = node->create_publisher<MsgT>("chatter", custom_qos);
162-
* }
154+
* ```cpp
155+
* pub = node->create_publisher<MsgT>("chatter", 10); // implicitly KeepLast
156+
* pub = node->create_publisher<MsgT>("chatter", QoS(10)); // implicitly KeepLast
157+
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
158+
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
159+
* pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
160+
* {
161+
* rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
162+
* pub = node->create_publisher<MsgT>("chatter", custom_qos);
163+
* }
164+
* ```
163165
*
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* The publisher options may optionally be passed as the third argument for
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* any of the above cases.
@@ -904,19 +906,21 @@ class Node : public std::enable_shared_from_this<Node>
904906
*
905907
* For an example callback:
906908
*
907-
* rcl_interfaces::msg::SetParametersResult
908-
* my_callback(const std::vector<rclcpp::Parameter> & parameters)
909-
* {
910-
* rcl_interfaces::msg::SetParametersResult result;
911-
* result.successful = true;
912-
* for (const auto & parameter : parameters) {
913-
* if (!some_condition) {
914-
* result.successful = false;
915-
* result.reason = "the reason it could not be allowed";
916-
* }
909+
* ```cpp
910+
* rcl_interfaces::msg::SetParametersResult
911+
* my_callback(const std::vector<rclcpp::Parameter> & parameters)
912+
* {
913+
* rcl_interfaces::msg::SetParametersResult result;
914+
* result.successful = true;
915+
* for (const auto & parameter : parameters) {
916+
* if (!some_condition) {
917+
* result.successful = false;
918+
* result.reason = "the reason it could not be allowed";
917919
* }
918-
* return result;
919920
* }
921+
* return result;
922+
* }
923+
* ```
920924
*
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* You can see that the SetParametersResult is a boolean flag for success
922926
* and an optional reason that can be used in error reporting when it fails.
@@ -1127,15 +1131,17 @@ class Node : public std::enable_shared_from_this<Node>
11271131
*
11281132
* For example, consider:
11291133
*
1130-
* auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
1131-
* node->get_sub_namespace(); // -> ""
1132-
* auto sub_node1 = node->create_sub_node("a");
1133-
* sub_node1->get_sub_namespace(); // -> "a"
1134-
* auto sub_node2 = sub_node1->create_sub_node("b");
1135-
* sub_node2->get_sub_namespace(); // -> "a/b"
1136-
* auto sub_node3 = node->create_sub_node("foo");
1137-
* sub_node3->get_sub_namespace(); // -> "foo"
1138-
* node->get_sub_namespace(); // -> ""
1134+
* ```cpp
1135+
* auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
1136+
* node->get_sub_namespace(); // -> ""
1137+
* auto sub_node1 = node->create_sub_node("a");
1138+
* sub_node1->get_sub_namespace(); // -> "a"
1139+
* auto sub_node2 = sub_node1->create_sub_node("b");
1140+
* sub_node2->get_sub_namespace(); // -> "a/b"
1141+
* auto sub_node3 = node->create_sub_node("foo");
1142+
* sub_node3->get_sub_namespace(); // -> "foo"
1143+
* node->get_sub_namespace(); // -> ""
1144+
* ```
11391145
*
11401146
* get_namespace() will return the original node namespace, and will not
11411147
* include the sub-namespace if one exists.
@@ -1157,15 +1163,17 @@ class Node : public std::enable_shared_from_this<Node>
11571163
*
11581164
* For example, consider:
11591165
*
1160-
* auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
1161-
* node->get_effective_namespace(); // -> "/my_ns"
1162-
* auto sub_node1 = node->create_sub_node("a");
1163-
* sub_node1->get_effective_namespace(); // -> "/my_ns/a"
1164-
* auto sub_node2 = sub_node1->create_sub_node("b");
1165-
* sub_node2->get_effective_namespace(); // -> "/my_ns/a/b"
1166-
* auto sub_node3 = node->create_sub_node("foo");
1167-
* sub_node3->get_effective_namespace(); // -> "/my_ns/foo"
1168-
* node->get_effective_namespace(); // -> "/my_ns"
1166+
* ```cpp
1167+
* auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
1168+
* node->get_effective_namespace(); // -> "/my_ns"
1169+
* auto sub_node1 = node->create_sub_node("a");
1170+
* sub_node1->get_effective_namespace(); // -> "/my_ns/a"
1171+
* auto sub_node2 = sub_node1->create_sub_node("b");
1172+
* sub_node2->get_effective_namespace(); // -> "/my_ns/a/b"
1173+
* auto sub_node3 = node->create_sub_node("foo");
1174+
* sub_node3->get_effective_namespace(); // -> "/my_ns/foo"
1175+
* node->get_effective_namespace(); // -> "/my_ns"
1176+
* ```
11691177
*
11701178
* \sa get_namespace()
11711179
* \sa get_sub_namespace()

‎rclcpp/include/rclcpp/parameter_events_filter.hpp‎

Lines changed: 14 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -44,16 +44,20 @@ class ParameterEventsFilter
4444
* \param[in] event The parameter event message to filter.
4545
* \param[in] names A list of parameter names of interest.
4646
* \param[in] types A list of the types of parameter events of iterest.
47-
* EventType NEW, DELETED, or CHANGED
48-
*
49-
* Example Usage:
50-
* If you have recieved a parameter event and are only interested in parameters foo and
51-
* bar being added or changed but don't care about deletion.
52-
* auto res = rclcpp::ParameterEventsFilter(
53-
* event_shared_ptr,
54-
* {"foo", "bar"},
55-
* {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
56-
*/
47+
* EventType NEW, DELETED, or CHANGED
48+
*
49+
* Example Usage:
50+
*
51+
* If you have recieved a parameter event and are only interested in parameters foo and
52+
* bar being added or changed but don't care about deletion.
53+
*
54+
* ```cpp
55+
* auto res = rclcpp::ParameterEventsFilter(
56+
* event_shared_ptr,
57+
* {"foo", "bar"},
58+
* {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
59+
* ```
60+
*/
5761
RCLCPP_PUBLIC
5862
ParameterEventsFilter(
5963
rcl_interfaces::msg::ParameterEvent::SharedPtr event,

‎rclcpp/include/rclcpp/waitable.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -128,7 +128,7 @@ class Waitable
128128
*
129129
* Example usage:
130130
*
131-
* ```
131+
* ```cpp
132132
* // ... create a wait set and a Waitable
133133
* // Add the Waitable to the wait set
134134
* bool add_ret = waitable.add_to_wait_set(wait_set);

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