Rewrite of old rosidl tutorial (#614)

* Change old rosidl tutorial to intermediate rosidl Signed-off-by: maryaB-osr <[email protected]> * first draft rosidl rewrite Signed-off-by: maryaB-osr <[email protected]> * forgot a link Signed-off-by: maryaB-osr <[email protected]> * apply review Signed-off-by: maryaB-osr <[email protected]> * remoce ros-idl references Signed-off-by: maryaB-osr <[email protected]> * move to beginner section Signed-off-by: maryaB-osr <[email protected]> * linter Signed-off-by: maryaB-osr <[email protected]> * more descriptive file name Signed-off-by: maryaB-osr <[email protected]> * review clalancette Signed-off-by: maryaB-osr <[email protected]>
ros2 · May 13, 2020 · b7c6a48 · b7c6a48
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diff --git a/source/Concepts/About-ROS-Interfaces.rst b/source/Concepts/About-ROS-Interfaces.rst
@@ -1,3 +1,5 @@
+.. _InterfaceConcept:
+
 .. redirect-from::
 
  About-ROS-Interfaces

diff --git a/source/Tutorials.rst b/source/Tutorials.rst
@@ -50,6 +50,7 @@ Beginner: Client Libraries
  Tutorials/Writing-A-Simple-Cpp-Service-And-Client
  Tutorials/Writing-A-Simple-Py-Service-And-Client
  Tutorials/Custom-ROS2-Interfaces
+ Tutorials/Single-Package-Define-And-Use-Interface
  Tutorials/Using-Parameters-In-A-Class-CPP
  Tutorials/Getting-Started-With-Ros2doctor
 
@@ -65,7 +66,6 @@ Working With Your First Package & Workspace
  Tutorials/Developing-a-ROS-2-Package
  Tutorials/Colcon-Tutorial
  Tutorials/Ament-CMake-Documentation
- Tutorials/Rosidl-Tutorial.rst
 
 Learning the ROS 2 Toolset
 ^^^^^^^^^^^^^^^^^^^^^^^^^^

diff --git a/source/Tutorials/Custom-ROS2-Interfaces.rst b/source/Tutorials/Custom-ROS2-Interfaces.rst
@@ -722,13 +722,12 @@ Summary
 In this tutorial, you learned how to create custom interfaces in their own package and how to utilize those interfaces from within other packages.
 
 This is a simple method of interface creation and utilization.
-ROS 2 encourages use of the ``rosidl`` tools, which you can learn about :ref:`here <ros-idl>`.
+You can learn more about interfaces :ref:`here <InterfaceConcept>`.
 
 ``.action`` files are another ROS 2 interface you can customize.
 You can learn about action interfaces :ref:`here <Actions>`.
 
 Next steps
 ----------
 
-Next you will create a simple ROS 2 package with a custom parameter that you will learn to set from a launch file.
-This tutorial is available in :ref:`C++ <CppParamNode>`.
+The :ref:`next tutorial <SinglePkgInterface>` covers more ways to use interfaces in ROS 2.