From 352cd124d0341ed3ca2766ab247da1e33d99cbbd Mon Sep 17 00:00:00 2001
From: Aarav Gupta <amronos275@gmail.com>
Date: Mon, 2 Dec 2024 18:44:11 +0530
Subject: [PATCH] Apply suggestions from code review
MIME-Version: 1.0
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Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 doc/index.rst | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/doc/index.rst b/doc/index.rst
index 350ab4b..e04213c 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -129,6 +129,7 @@ extensible via an additional plugin architecture to allow power users to create
 robot hardware interfaces between *ros2_control* and Gazebo.
 
 URDF:
+
 .. code-block:: xml
 
   <gazebo>
@@ -136,7 +137,9 @@ URDF:
       <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
     </plugin>
   </gazebo>
+
 SDF:
+
 .. code-block:: xml
 
   <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
@@ -165,6 +168,7 @@ or via ROS parameters:
 Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
 
 URDF:
+
 .. code-block:: xml
 
   <gazebo>
@@ -176,9 +180,12 @@ URDF:
       </ros>
     </plugin>
   </gazebo>
+
 SDF:
+
 .. code-block:: xml
 
+
   <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
     ...
     <ros>
@@ -210,6 +217,7 @@ The respective GazeboSimSystemInterface sub-class is specified in a URDF or SDF
 robot model is loaded. For example, the following XML will load the default plugin:
 
 URDF:
+
 .. code-block:: xml
 
   <ros2_control name="GazeboSimSystem" type="system">
@@ -223,7 +231,9 @@ URDF:
       ...
     </plugin>
   </gazebo>
+
 SDF:
+
 .. code-block:: xml
 
   <ros2_control name="GazeboSimSystem" type="system">
@@ -243,6 +253,7 @@ Use the tag ``<parameters>`` inside ``<plugin>`` to set the YAML file with the c
 and use the tag ``<controller_manager_prefix_node_name>`` to set the controller manager node name.
 
 URDF:
+
 .. code-block:: xml
 
   <gazebo>
@@ -250,8 +261,10 @@ URDF:
       <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
     </plugin>
-  <gazebo>
+    <gazebo>
+
 SDF:
+
 .. code-block:: xml
 
   <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
@@ -275,7 +288,7 @@ There are some examples in the *gz_ros2_control_demos* package.
 To specify whether to use URDF or SDF, you can launch the demo in the following way (the default is URDF):
 .. code-block:: shell
 
-  ros2 launch gz_ros2_control_demos ....launch.py description_format:=sdf
+  ros2 launch gz_ros2_control_demos <launch file> description_format:=sdf
 
 Cart on rail
 -----------------------------------------------------------