Fix warnings

doc/examples/realtime_servo/realtime_servo_tutorial.rst

@@ -1,5 +1,5 @@
 Realtime Servo
-============
+===============
 
 MoveIt Servo facilitates realtime control of your robot arm.
 
@@ -18,9 +18,9 @@ If you haven't already done so, make sure you've completed the steps in :doc:`Ge
 
 
 Design overview
---------------
+---------------
 
-Moveit Servo consists of two main parts, the core implementation `Servo` which provides a C++ interface, and the `ServoNode` which
+Moveit Servo consists of two main parts, the core implementation ``Servo`` which provides a C++ interface, and the ``ServoNode`` which
 wraps the C++ interface and provides a ROS interface.
 
 The configuration of Servo is done through ROS parameters specified in `servo_parameters.yaml <https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/config/servo_parameters.yaml>`_
@@ -30,16 +30,16 @@ In addition to the servoing capability, MoveIt Servo has some convenient feature
     - Checking for singularities
     - Checking for collisions
 
-The collision checking is an optional feature that can be disabled using the `check_collisions` parameter.
+The collision checking is an optional feature that can be disabled using the ``check_collisions`` parameter.
 
 Using the C++ API
 ------------------
 The C++ interface allows the user to create and utilize an instance of Servo within their C++ programs.
 This can be beneficial when there is a performance requirement to avoid the overhead of ROS communication infrastucture,
 or when the output generated by Servo needs to be fed into some other controller that does not have a ROS interface.
 
-When using Servo with the C++ interface the three input command types are `JointJogCommand`, `TwistCommand` and `PoseCommand`.
-The output from Servo when using the C++ interface is `KinematicState`, a struct containing joint names, positions, velocities and accelerations.
+When using Servo with the C++ interface the three input command types are ``JointJogCommand``, ``TwistCommand`` and ``PoseCommand``.
+The output from Servo when using the C++ interface is ``KinematicState``, a struct containing joint names, positions, velocities and accelerations.
 As given by the definitions in `datatypes <https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/include/moveit_servo/utils/datatypes.hpp>`_ header file.
 
 The first step is to create a Servo instance.
@@ -127,7 +127,7 @@ Using the PoseCommand
     // This is generally run in a loop.
     KinematicState next_joint_state = servo.getNextJointState(command);
 
-The `next_joint_state` result can then be used for further steps in the control pipeline.
+The ``next_joint_state`` result can then be used for further steps in the control pipeline.
 
 The status of Servo resulting from the last command can be obtained by:
 
@@ -137,31 +137,31 @@ The status of Servo resulting from the last command can be obtained by:
 
 The satus can be used as input for various decisions.
 
-See `here <https://github.com/ros-planning/moveit2/tree/main/moveit_ros/moveit_servo/demos/cpp_interface>`_ for complete examples of using the C++ interface.
-The demos can be launched using the launch files found `here <https://github.com/ros-planning/moveit2/tree/main/moveit_ros/moveit_servo/launch>`_.
+See `moveit_servo/demos <https://github.com/ros-planning/moveit2/tree/main/moveit_ros/moveit_servo/demos/cpp_interface>`_ for complete examples of using the C++ interface.
+The demos can be launched using the launch files found in `moveit_servo/launch <https://github.com/ros-planning/moveit2/tree/main/moveit_ros/moveit_servo/launch>`_.
 
-    - `ros2 launch moveit_servo demo_joint_jog.launch.py``
-    - `ros2 launch moveit_servo demo_twist.launch.py`
-    - `ros2 launch moveit_servo demo_pose.launch.py`
+    - ``ros2 launch moveit_servo demo_joint_jog.launch.py``
+    - ``ros2 launch moveit_servo demo_twist.launch.py``
+    - ``ros2 launch moveit_servo demo_pose.launch.py``
 
 
 Using the ROS API
 -----------------
 
-To use Servo through the ROS interface, it must be launched as a **Node** or **Component** along with the required parameters as seen `here <https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py>`_.
+To use Servo through the ROS interface, it must be launched as a ``Node`` or ``Component`` along with the required parameters as seen `here <https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py>`_.
 
 When using Servo with the ROS interface the commands are ROS messages of the following types published to respective topics specified by the Servo parameters.
 
-    1. `control_msgs::msg::JointJog` on the topic specified by *joint_command_in_topic* parameter.
-    2. `geometry_msgs::msg::TwistStamped` on the topic specified by *cartesian_command_in_topic* parameter.
-    3. `geometry_msgs::msg::PoseStamped` on the topic specified by *pose_command_in_topic* parameter.
+    1. ``control_msgs::msg::JointJog`` on the topic specified by ``joint_command_in_topic`` parameter.
+    2. ``geometry_msgs::msg::TwistStamped`` on the topic specified by ``cartesian_command_in_topic`` parameter.
+    3. ``geometry_msgs::msg::PoseStamped`` on the topic specified by ``pose_command_in_topic`` parameter.
 
-The output from Servo can either be `trajectory_msgs::msg::JointTrajectory`` or `std_msgs::msg::Float64MultiArray`
+The output from Servo can either be ``trajectory_msgs::msg::JointTrajectory`` or ``std_msgs::msg::Float64MultiArray``
 selected using the *command_out_type* parameter, and published on the topic specified by *command_out_topic* parameter.
 
-The command type for Servo can be selected using the `ServoCommandType` service, see definition `here <https://github.com/ros-planning/moveit_msgs/blob/ros2/srv/ServoCommandType.srv>`_.
+The command type for Servo can be selected using the ``ServoCommandType`` service, see definition `ServoCommandType <https://github.com/ros-planning/moveit_msgs/blob/ros2/srv/ServoCommandType.srv>`_.
 
-From cli : `ros2 service call /servo_node/switch_command_type moveit_msgs/srv/ServoCommandType "{command_type: 1}"`
+From cli : ``ros2 service call /servo_node/switch_command_type moveit_msgs/srv/ServoCommandType "{command_type: 1}"``
 
 Programmatically:
 
@@ -183,14 +183,14 @@ Programmatically:
           }
         }
 
-Similarly, Servo can be paused using the pause service of type `std_msgs::srv::SetBool`.
+Similarly, Servo can be paused using the pause service of type ``std_msgs::srv::SetBool``.
 
-When using the ROS interface, the status of Servo is available on the topic `/servo_node/status`, see definition `here <https://github.com/ros-planning/moveit_msgs/blob/ros2/msg/ServoStatus.msg>`_.
+When using the ROS interface, the status of Servo is available on the topic ``/servo_node/status``, see definition `ServoStatus <https://github.com/ros-planning/moveit_msgs/blob/ros2/msg/ServoStatus.msg>`_.
 
-Launch ROS interface demo: `ros2 launch moveit_servo demo_ros_api.launch.py`.
+Launch ROS interface demo: ``ros2 launch moveit_servo demo_ros_api.launch.py``.
 
 Once the demo is running, the robot can be teleoperated through the keyboard.
 
-Launch the keyboard demo: `ros2 run moveit_servo servo_keyboard_input`.
+Launch the keyboard demo: ``ros2 run moveit_servo servo_keyboard_input``.
 
-An example of using the pose commands in the context of servoing to open a door can be seen `here <https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp>`_.
+An example of using the pose commands in the context of servoing to open a door can be seen in this `example <https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp>`_.