Squashed commit of the following:

commit 72effa7
Author: Luke Schmitt <85308904+LSinterbotix@users.noreply.github.com>
Date:   Tue Nov 1 17:26:25 2022 -0500

    Fix list formatting on Contact page (ros2#3153)

commit dcd066f
Author: Dan Zimmerman <dan@danzimmerman.com>
Date:   Tue Nov 1 16:29:34 2022 -0400

    Update throttle logging docs with units and data type hints (re: rclcpp/issues/1929) (ros2#3143)

    * Note milliseconds on API Concepts page

    * Add units and types to About Logging page

    Co-authored-by: dan <dan@polarworks.no>
    Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

commit 375b6cf
Author: definitelyuncertain <saikirann94@gmail.com>
Date:   Fri Oct 28 14:30:22 2022 -0500

    Change to mention explicit requirement for folder names for .msg and .srv files (ros2#3144)

    * Change to mention explicit requirement for folder names for msg and srv files

    From ros2/tutorials#29

    * fix typo

    Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

    * fix rst formatting

    Co-authored-by: Chris Lalancette <clalancette@gmail.com>

    Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
    Co-authored-by: Chris Lalancette <clalancette@gmail.com>

commit da871ef
Author: Sergei Sergienko <divelix1@gmail.com>
Date:   Thu Oct 27 17:20:06 2022 +0300

    fix link to Gazebo-ROS2 bridge + CLI examples (ros2#3139)

    * fix link to Gazebo-ROS2 bridge + CLI examples

    Co-authored-by: Chris Lalancette <clalancette@gmail.com>

commit e19c9b5
Author: Chris Lalancette <clalancette@openrobotics.org>
Date:   Wed Oct 26 16:31:21 2022 -0400

    Update the language to match the source code. (ros2#3135)

    Fallout from ros2#2865

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit a5910a1
Author: Chris Lalancette <clalancette@openrobotics.org>
Date:   Wed Oct 26 08:38:36 2022 -0400

    Shorten the Windows build-from-source path. (ros2#3130)

    * Shorten the Windows build-from-source path.

    This is to keep the total length down below the 260 character
    limit imposed by Windows by default.

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit 8225686
Author: Chris Lalancette <clalancette@openrobotics.org>
Date:   Mon Oct 24 08:30:37 2022 -0400

    Fix up the variable name in the traveling in time (C++) tutorial. (ros2#3115)

    This is just to match what is in the code in the upstream
    repository.

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit 87ab121
Author: Ian Colwell <48106342+icolwell-as@users.noreply.github.com>
Date:   Fri Oct 21 11:07:30 2022 -0400

    Update default WORKING_DIRECTORY for ament_add_gtest() (ros2#3117)

commit 87bf20a
Author: chianfern <chianfern@gmail.com>
Date:   Tue Oct 18 21:36:57 2022 +0800

    Add ParameterDescriptor to 'Using parameters in a class (C++)' (ros2#2865)

    * Rename node name in "Using parameters" C++ tutorial to be consistent with Python tutorial.

    Signed-off-by: Tan Chian Fern <chianfern@gmail.com>
    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit 77646ce
Author: George Stavrinos <gstavrinos@protonmail.com>
Date:   Tue Oct 18 15:29:37 2022 +0300

    Fixed Intel's robot SDK repo with the new devkit name + reference to MoveIt2 instead of 1. (ros2#3107)

commit 1d24955
Author: Chris Lalancette <clalancette@openrobotics.org>
Date:   Mon Oct 17 14:06:52 2022 -0400

    Monitor parameter changes: Add note to save callback handle (ros2#3102)

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit 8910a80
Author: David V. Lu!! <davidvlu@gmail.com>
Date:   Fri Oct 14 09:56:14 2022 -0400

    Some testing basics (ros2#3084)

    * Some testing basics

    Signed-off-by: David V. Lu <davidvlu@gmail.com>
    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

commit 8771452
Author: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date:   Fri Oct 14 05:34:20 2022 -0700

    Sony's task for Iron Release. (ros2#3089)

    * Sony's task for Iron Release.

    Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

    * Rearrange and add in links.

    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

    Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
    Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
    Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

commit 2ea9e7d
Author: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com>
Date:   Fri Oct 14 14:23:13 2022 +0200

    Update Setting-up a Robot Simulation (Webots) tutorial (ros2#3090)

    * Update intro to WSL

    * Update world with declarations

    * Add supervisor node and environment var

    * Update tutorial with explanations

    Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com>

commit 0390a50
Author: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Date:   Thu Oct 13 13:42:30 2022 -0400

    fix unresolved package requirement to install Humble on Ubuntu 20.04 (ros2#3086) (ros2#3088)

    * fix command to install humble on Ubuntu 20.04

    Co-authored-by: paolo.dimasi <paodimasi@outlook.com>
    Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
    (cherry picked from commit 5626af9)

    Co-authored-by: Paolo Dimasi <46300254+Pamasi@users.noreply.github.com>

source/Concepts/About-Logging.rst

@@ -53,15 +53,15 @@ These are the APIs that end users of the ROS 2 logging infrastructure should use
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_EXPRESSION`` - output the given printf-style message only if the given expression is true
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_FUNCTION`` - output the given printf-style message only if the given function returns true
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_SKIPFIRST`` - output the given printf-style message all but the first time this line is hit
-    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_THROTTLE`` - output the given printf-style message no more than the given rate
-    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_SKIPFIRST_THROTTLE`` - output the given printf-style message no more than the given rate, but skip the first
+    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_THROTTLE`` - output the given printf-style message no more than the given rate in integer milliseconds
+    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_SKIPFIRST_THROTTLE`` - output the given printf-style message no more than the given rate in integer milliseconds, but skip the first
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM`` - output the given C++ stream-style message every time this line is hit
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_ONCE`` - output the given C++ stream-style message only the first time this line is hit
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_EXPRESSION`` - output the given C++ stream-style message only if the given expression is true
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_FUNCTION`` - output the given C++ stream-style message only if the given function returns true
     * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_SKIPFIRST`` - output the given C++ stream-style message all but the first time this line is hit
-    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_THROTTLE`` - output the given C++ stream-style message no more than the given rate
-    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_SKIPFIRST_THROTTLE`` - output the given C++ stream-style message no more than the given rate, but skip the first
+    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_THROTTLE`` - output the given C++ stream-style message no more than the given rate in integer milliseconds
+    * ``RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_SKIPFIRST_THROTTLE`` - output the given C++ stream-style message no more than the given rate in integer milliseconds, but skip the first
 
     Each of the above APIs takes an ``rclcpp::Logger`` object as the first argument.
     This can be pulled from the node API by calling ``node->get_logger()`` (recommended), or by constructing a stand-alone ``rclcpp::Logger`` object.
@@ -73,7 +73,7 @@ These are the APIs that end users of the ROS 2 logging infrastructure should use
 
     * ``logger.{debug,info,warning,error,fatal}`` - output the given Python string to the logging infrastructure.  The calls accept the following keyword args to control behavior:
 
-      * ``throttle_duration_sec`` - if not None, the duration of the throttle interval
+      * ``throttle_duration_sec`` - if not None, the duration of the throttle interval in floating-point seconds
       * ``skip_first`` - if True, output the message all but the first time this line is hit
       * ``once`` - if True, only output the message the first time this line is hit
 

source/Contact.rst

@@ -59,6 +59,7 @@ If following a tutorial or online instructions provide a link to the specific in
 * When discussing any compiling/linking/installation issues, also provide the compiler version
 
 As appropriate, also include your:
+
 * ROS environment variables (env | grep ROS)
 * Backtraces
 * Relevant config files

source/How-To-Guides/Ament-CMake-Documentation.rst

@@ -326,7 +326,7 @@ The macros have additional parameters:
 
 - ``WORKING_DIRECTORY``: set the working directory for the test.
 
-The default working directory otherwise is the ``CMAKE_SOURCE_DIR``, which will be evaluated to the directory of the top-level ``CMakeLists.txt``.
+The default working directory otherwise is the ``CMAKE_CURRENT_BINARY_DIR``, which is described in the `CMake documentation <https://cmake.org/cmake/help/latest/variable/CMAKE_CURRENT_BINARY_DIR.html>`_.
 
 Similarly, there is a CMake macro to set up GTest including GMock:
 

source/Installation/Alternatives/Ubuntu-Development-Setup.rst

@@ -46,6 +46,8 @@ Add the ROS 2 apt repository
 Install development tools and ROS tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Install common packages
+
 .. code-block:: bash
 
    sudo apt update && sudo apt install -y \
@@ -54,24 +56,50 @@ Install development tools and ROS tools
      git \
      python3-colcon-common-extensions \
      python3-flake8 \
-     python3-flake8-blind-except \
-     python3-flake8-builtins \
-     python3-flake8-class-newline \
-     python3-flake8-comprehensions \
-     python3-flake8-deprecated \
      python3-flake8-docstrings \
-     python3-flake8-import-order \
-     python3-flake8-quotes \
      python3-pip \
      python3-pytest \
      python3-pytest-cov \
-     python3-pytest-repeat \
-     python3-pytest-rerunfailures \
      python3-rosdep \
      python3-setuptools \
      python3-vcstool \
      wget
 
+Install packages according to your Ubuntu version
+
+.. tabs::
+
+   .. group-tab:: Ubuntu 22.04 LTS and later
+
+      .. code-block:: console
+
+         sudo apt install -y \
+            python3-flake8-blind-except
+            python3-flake8-builtins
+            python3-flake8-class-newline
+            python3-flake8-comprehensions
+            python3-flake8-deprecated
+            python3-flake8-import-order
+            python3-flake8-quotes
+            python3-pytest-repeat
+            python3-pytest-rerunfailures
+
+   .. group-tab:: Ubuntu 20.04 LTS
+
+      .. code-block:: bash
+
+         python3 -m pip install -U \
+            flake8-blind-except \
+            flake8-builtins \
+            flake8-class-newline \
+            flake8-comprehensions \
+            flake8-deprecated \
+            flake8-import-order \
+            flake8-quotes \
+            pytest-repeat \
+            pytest-rerunfailures
+
+
 .. _Rolling_linux-dev-get-ros2-code:
 
 Get ROS 2 code

source/Installation/Alternatives/Windows-Development-Setup.rst

@@ -65,12 +65,17 @@ Get the ROS 2 code
 
 Now that we have the development tools we can get the ROS 2 source code.
 
-First setup a development folder, for example ``C:\dev\ros2_{DISTRO}``:
+First setup a development folder, for example ``C:\{DISTRO}``:
+
+.. note::
+
+   It is very important that the chosen path is short, due to the short default Windows path limits (260 characters).
+   To allow longer paths, see https://learn.microsoft.com/en-us/windows/win32/fileio/maximum-file-path-limitation?tabs=registry.
 
 .. code-block:: bash
 
-   md \dev\ros2_{DISTRO}\src
-   cd \dev\ros2_{DISTRO}
+   md \{DISTRO}\src
+   cd \{DISTRO}
 
 Get the ``ros2.repos`` file which defines the repositories to clone from:
 
@@ -81,6 +86,8 @@ Get the ``ros2.repos`` file which defines the repositories to clone from:
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Fast DDS is bundled with the ROS 2 source and will always be built unless you put an ``COLCON_IGNORE`` file in the ``src\eProsima`` folder.
+
 If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../DDS-Implementations>`.
 
 Build the ROS 2 code
@@ -90,9 +97,7 @@ Build the ROS 2 code
 
 To build ROS 2 you will need a Visual Studio Command Prompt ("x64 Native Tools Command Prompt for VS 2019") running as Administrator.
 
-Fast RTPS is bundled with the ROS 2 source and will always be built unless you put an ``AMENT_IGNORE`` file in the ``src\eProsima`` folder.
-
-To build the ``\dev\ros2_{DISTRO}`` folder tree:
+To build the ``\{DISTRO}`` folder tree:
 
 .. code-block:: bash
 
@@ -115,7 +120,7 @@ Start a command shell and source the ROS 2 setup file to set up the workspace:
 
 .. code-block:: bash
 
-   call C:\dev\ros2_{DISTRO}\install\local_setup.bat
+   call C:\{DISTRO}\install\local_setup.bat
 
 This will automatically set up the environment for any DDS vendors that support was built for.
 

source/Related-Projects/Intel-ROS2-Projects.rst

@@ -21,9 +21,9 @@ We are working on below ROS 2 projects and publish source code through https://g
 * `ROS2 CV Bridge <https://github.com/ros-perception/vision_opencv/tree/ros2/cv_bridge>`__: ROS 2 package to bridge with openCV.
 * `ROS2 Object Map <https://github.com/intel/ros2_object_map>`__: ROS 2 package to mark tag of objects on map when SLAM based on information provided by ROS 2 object analytics.
 * `ROS2 Moving Object <https://github.com/intel/ros2_moving_object>`__: ROS 2 package to provide object motion information (like object velocity on x, y, z axis) based on information provided by ROS 2 object analytics.
-* `ROS2 Grasp Library <https://github.com/intel/ros2_grasp_library>`__: ROS 2 package for grasp position analysis, and compatible with `MoveIt <https://github.com/ros-planning/moveit.git>`__ grasp interfaces.
+* `ROS2 Grasp Library <https://github.com/intel/ros2_grasp_library>`__: ROS 2 package for grasp position analysis, and compatible with `MoveIt <https://github.com/ros-planning/moveit2.git>`__ grasp interfaces.
 * `ROS2 Navigation <https://github.com/ros-planning/navigation2>`__: ROS 2 package for robot navigation, it's already integrated to ROS 2 Crystal release.
-* `Robot SDK <https://github.com/intel/robot_sdk>`__: An open source project which enables developers to easily and efficiently create, customize, optimize, and deploy a robot software stack to an Autonomous Mobile Robot (AMR) platform based on the Robot Operating System 2 (ROS 2) framework.
+* `Intel Robot DevKit (SDK) <https://github.com/intel/robot_devkit>`__: An open source project which enables developers to easily and efficiently create, customize, optimize, and deploy a robot software stack to an Autonomous Mobile Robot (AMR) platform based on the Robot Operating System 2 (ROS 2) framework.
 
 Reference
 ---------

source/The-ROS2-Project/Contributing/Developer-Guide.rst

@@ -209,7 +209,7 @@ Examples:
 Testing
 ^^^^^^^
 
-All packages should have some level of system, integration, and/or unit tests.
+All packages should have some level of :ref:`system, integration, and/or unit tests.<TestingMain>`
 
 **Unit tests** should always be in the package which is being tested and should make use of tools like ``Mock`` to try and test narrow parts of the code base in constructed scenarios.
 Unit tests should not bring in test dependencies that are not testing tools, e.g. gtest, nosetest, pytest, mock, etc...

source/The-ROS2-Project/Roadmap.rst

@@ -91,6 +91,18 @@ If you'd like to take on one of these tasks, please :doc:`get in touch with us <
      - Large
      - Open Robotics
      - Q2 2023
+   * - `ContentFiltering fallback in rcl <https://github.com/ros2/design/pull/282>`__
+     - Large
+     - Sony Group Corporation
+     - Q1 2023
+   * - `on_pub/sub_matched callback support <https://github.com/ros2/rmw/issues/330>`__
+     - Medium
+     - Sony Group Corporation
+     - Q1 2023
+   * - ROS 2 core ContentFiltering Enhancement
+     - Medium
+     - Sony Group Corporation
+     - Q2 2023
 
 Additional project-specific roadmaps can be found in the links below:
 

source/Tutorials/Advanced/Simulators/Ignition.rst

@@ -116,7 +116,7 @@ In particular you are going to create a bridge for the topic ``/model/vehicle_bl
         source /opt/ros/{DISTRO}/setup.bash
         ros2 run ros_ign_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist
 
-For more details about the ``ros_ign_bridge`` please check this `README <https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_bridge>`__ .
+For more details about the ``ros_ign_bridge`` please check this `README <https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge>`__ .
 
 Once the bridge is running the robot is able to follow your motor commands.
 There are two options:

source/Tutorials/Advanced/Simulators/Webots.rst

@@ -234,7 +234,7 @@ The ``robot_description`` parameter holds the contents of the URDF file which re
 
 After that, the three nodes are set to be launched in the ``LaunchDescription`` constructor:
 
-.. literalinclude:: Code/robot_launch_linux.py
+.. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
     :lines: 30-33

source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst

@@ -52,7 +52,7 @@ Since we will use the pub/sub and service/client packages created in earlier tut
 Note that it is a CMake package; there currently isn’t a way to generate a ``.msg`` or ``.srv`` file in a pure Python package.
 You can create a custom interface in a CMake package, and then use it in a Python node, which will be covered in the last section.
 
-It is good practice to keep ``.msg`` and ``.srv`` files in their own directories within a package.
+The ``.msg`` and ``.srv`` files are required to be placed in directories called ``msg`` and ``srv`` respectively.
 Create the directories in ``ros2_ws/src/tutorial_interfaces``:
 
 .. code-block:: console