lab2.md

@@ -210,7 +210,7 @@ Publishing on a Topic
 
 At this point, your node is not doing anything interesting. First, we will make our node send a message on a topic. We will make it send a velocity on ```/cmd_vel```.
 
-Before starting, you should study the [official Python tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html) or the [official C++ tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html).
+Before starting, you should study the [official Python tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html) or the [official C++ tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html).
 
 Modify the publisher example to instead publish a ```geometry_msgs/msg/Twist``` (you can import it from ```import geometry_msgs.msg```) with a linear velocity of ```0.1``` and angular velocity of ```0.05```. We strongly advise that you follow an incremental approach:
 
@@ -220,7 +220,7 @@ Modify the publisher example to instead publish a ```geometry_msgs/msg/Twist```
 * Check that it runs properly, you can use ```ros2 topic echo ...``` or ```rqt``` to check that a message is published by the node, it should be a string.
 * Modify the script to publish a ```geometry_msgs/msg/Twist``` on ```/cmd_vel``` with a linear velocity of ```0.1``` and angular velocity of ```0.05```.
 
-The documentation for ```geometry_msgs/Twist``` can be found online at [geometry_msgs/Twist](https://docs.ros2.org/galactic/api/geometry_msgs/msg/Twist.html) or by running ```ros2 msg info geometry_msgs/Twist```.
+The documentation for ```geometry_msgs/Twist``` can be found online at [geometry_msgs/Twist](https://docs.ros2.org/humble/api/geometry_msgs/msg/Twist.html) or by running ```ros2 msg info geometry_msgs/Twist```.
 
 Listening to a Topic
 -----------------
@@ -244,7 +244,7 @@ So that we can run our program this way:
 ros2 run air_lab2 lab2_node --ros-args -p linear:=0.5 -p angular:=0.1 -p distance:=0.4
 ```
 
-Before starting, you should study the [official Python tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.html) or the [official C++ tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.html).
+Before starting, you should study the [official Python tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.html) or the [official C++ tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.html).
 
 Create a ```linear```, ```angular``` and ```distance``` parameter.
 
@@ -301,7 +301,7 @@ We will use the ```NavigateToPose``` action. You can check its type with:
 ros2 interface show nav2_msgs/action/NavigateToPose
 ```
 
-Before starting the implementation, study the [official action tutorial](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html).
+Before starting the implementation, study the [official action tutorial](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html).
 
 We already modified the tutorial, so that you can use the following in ```random_exploration.py``` to go to a single location:
 
@@ -382,7 +382,7 @@ We will use the ```NavigateToPose``` action. You can check its type with:
 ros2 interface show nav2_msgs/action/NavigateToPose
 ```
 
-Before starting the implementation, study the [official action tutorial](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html).
+Before starting the implementation, study the [official action tutorial](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html).
 
 We already modified the tutorial, so that you can use the following in ```random_exploration.py``` to go to a single location: