Fix broken links and text indentation in example_16 doc (#746)

Author: Juliaj

example_16/README.md

@@ -1,6 +1,5 @@
 # ros2_control_demo_example_16
 
-   *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
-   The robot is basically a box moving according to differential drive kinematics.
+   *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. This example shows how to create chained controllers using diff_drive_controller and pid_controllers to control a differential drive robot.
 
 Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_16/doc/userdoc.html).

example_16/doc/userdoc.rst

@@ -22,7 +22,7 @@ Tutorial steps
 
 1. To start *DiffBot* example open a terminal, source your ROS2-workspace and execute its launch file with
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 launch ros2_control_demo_example_16 diffbot.launch.py
 
@@ -34,13 +34,13 @@ Tutorial steps
 
 2. Check controllers
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 control list_controllers
 
   You should get
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     joint_state_broadcaster          joint_state_broadcaster/JointStateBroadcaster  active
     diffbot_base_controller          diff_drive_controller/DiffDriveController      active
@@ -49,7 +49,7 @@ Tutorial steps
 
 3. Check the hardware interface loaded by opening another terminal and executing
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 control list_hardware_interfaces
 
@@ -99,7 +99,7 @@ Tutorial steps
 
 6. Now we are ready to send a command to move the robot. Send a command to *Diff Drive Controller* by opening another terminal and executing
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
     twist:
@@ -181,31 +181,31 @@ Before we proceed, we stop all previous steps from terminal and start from the b
 
 1. To start *DiffBot* example open a terminal, source your ROS2-workspace and execute its launch file with
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 launch ros2_control_demo_example_16 diffbot.launch.py
 
-Like before, if you can see an orange box in *RViz*, everything has started properly.
+  Like before, if you can see an orange box in *RViz*, everything has started properly.
 
 2. To start the plotjuggler with a provided layout file(plotjuggler.xml), open another terminal and run following command.
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 run plotjuggler plotjuggler --layout $(ros2 pkg prefix ros2_control_demo_example_16 --share)/config/plotjuggler.xml
 
-After this, you will see a few dialogs popping up. For example:
+  After this, you will see a few dialogs popping up. For example:
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     Start the previously used streaming plugin?
 
     ROS2 Topic Subscriber
 
-Click 'Yes' for the first dialog and 'OK" to the following two dialogs, then you will see the plotjuggler window.
+  Click 'Yes' for the first dialog and 'OK" to the following two dialogs, then you will see the plotjuggler window.
 
 3. To enable feedforward mode and published a command to move the robot, instead of doing these manually, we will use the demo_test.launch.py. Open another terminal and execute
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 launch ros2_control_demo_example_16 demo_test.launch.py
 
@@ -217,7 +217,7 @@ Click 'Yes' for the first dialog and 'OK" to the following two dialogs, then you
 
 5. Change the ``gains`` in the ``diffbot_chained_controllers.yaml`` file with some different values, repeat above steps and observe its effect to the pid_controller commands. For example, to change the ``feedforward_gain`` of the right wheel to 0.50, you can use the following command:
 
-   .. code-block:: shell
+  .. code-block:: shell
 
     ros2 param set /pid_controller_right_wheel_joint gains.right_wheel_joint.feedforward_gain 0.50
 
@@ -226,7 +226,7 @@ Files used for this demo
 --------------------------
 
 * Launch file: `diffbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_16/bringup/launch/diffbot.launch.py>`__
-* Controllers yaml: `diffbot_chained_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_16/config/diffbot_chained_controllers.yaml>`__
+* Controllers yaml: `diffbot_chained_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_16/bringup/config/diffbot_chained_controllers.yaml>`__
 * URDF file: `diffbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_16/description/urdf/diffbot.urdf.xacro>`__
 
   * Description: `diffbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro>`__