cyberbotics
diff --git a/‎source/Concepts/About-Logging.rst
+5-5 b/‎source/Concepts/About-Logging.rst
+5-5
diff --git a/‎source/Contact.rst
+1 b/‎source/Contact.rst
+1
diff --git a/‎source/How-To-Guides/Ament-CMake-Documentation.rst
+1-1 b/‎source/How-To-Guides/Ament-CMake-Documentation.rst
+1-1
diff --git a/‎source/Installation/Alternatives/Ubuntu-Development-Setup.rst
+37-9 b/‎source/Installation/Alternatives/Ubuntu-Development-Setup.rst
+37-9
diff --git a/‎source/Installation/Alternatives/Windows-Development-Setup.rst
+12-7 b/‎source/Installation/Alternatives/Windows-Development-Setup.rst
+12-7
diff --git a/‎source/Related-Projects/Intel-ROS2-Projects.rst
+2-2 b/‎source/Related-Projects/Intel-ROS2-Projects.rst
+2-2
diff --git a/‎source/The-ROS2-Project/Contributing/Developer-Guide.rst
+1-1 b/‎source/The-ROS2-Project/Contributing/Developer-Guide.rst
+1-1
diff --git a/‎source/The-ROS2-Project/Roadmap.rst
+12 b/‎source/The-ROS2-Project/Roadmap.rst
+12
diff --git a/‎source/Tutorials/Advanced/Simulators/Ignition.rst
+1-1 b/‎source/Tutorials/Advanced/Simulators/Ignition.rst
+1-1
diff --git a/‎source/Tutorials/Advanced/Simulators/Webots.rst
+1-1 b/‎source/Tutorials/Advanced/Simulators/Webots.rst
+1-1
diff --git a/‎source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst
+1-1 b/‎source/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.rst
+1-1
@@ -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
 
 
@@ -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
 
@@ -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:
 
 
@@ -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
 
@@ -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.
 
 
@@ -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
 ---------
 
@@ -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...
 
@@ -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:
 
 
@@ -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:
 
@@ -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
 
@@ -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