Fix: changes word 'ROS 2' to 'ROS2'

Signed-off-by: h-suzuki <h-suzuki@isp.co.jp>

Author: h-suzuki-isp

docs/configuration/intra_node_data_path.md

@@ -116,7 +116,7 @@ CARET maps mechanically messages of `/pong` topic to messages of `/ping` which f
 `callback_chain` looks the best choice. However, it has several drawbacks.
 
 - It is not designed for node which have multiple callbacks running at parallel, and response time might be longer than actual
-- It is not able to detect actual time when buffered data are consumed because only CARET does not trace user code on ROS 2
+- It is not able to detect actual time when buffered data are consumed because only CARET does not trace user code on ROS2
 - Users are expected to know node structure beforehand
 
 <prettier-ignore-start>

docs/design/configuration/architecture_file.md

@@ -115,7 +115,7 @@ nodes:
 
 ## Callback identification
 
-It's convenient for users to give a name to a callback function for its identification. However, in the context of ROS 2, only an address is given to a callback.
+It's convenient for users to give a name to a callback function for its identification. However, in the context of ROS2, only an address is given to a callback.
 
 Addresses change with each launch of an application.
 This makes it difficult to handle callbacks by address when evaluating performance of them.

docs/design/event_and_latency_definitions/communication.md

@@ -88,48 +88,48 @@ A simplified sequence diagram focusing only on the relevant data flow is shown b
 title: Definition of major tracepoints
 
 participant UserCode
-participant ROS 2
+participant ROS2
 participant DDS
 participant LTTng
 
 == Publisher Side ==
 
 
-activate ROS 2
+activate ROS2
 activate UserCode
-UserCode -> ROS 2: publish()
-activate ROS 2
-ROS 2 -> LTTng: sample rclcpp_publish
+UserCode -> ROS2: publish()
+activate ROS2
+ROS2 -> LTTng: sample rclcpp_publish
 
 
-ROS 2 -> DDS: dds_write()
-deactivate ROS 2
+ROS2 -> DDS: dds_write()
+deactivate ROS2
 activate DDS
 DDS -> LTTng: sample dds_write
 DDS -> LTTng: sample dds_bind_addr_to_stamp
 
-UserCode -> ROS 2 : callback_end
+UserCode -> ROS2 : callback_end
 deactivate UserCode
-deactivate ROS 2
+deactivate ROS2
 
 
 == Subscription Side ==
 
 
-DDS -> ROS 2: <notify> on_data_available
-activate ROS 2
+DDS -> ROS2: <notify> on_data_available
+activate ROS2
 
-ROS 2 -> DDS :  take messages
-DDS -> ROS 2
+ROS2 -> DDS :  take messages
+DDS -> ROS2
 deactivate DDS
-ROS 2 -> LTTng: sample dispatch_subscription_callback
-ROS 2 -> LTTng: sample [callback_start
-ROS 2 -> UserCode: callback start
+ROS2 -> LTTng: sample dispatch_subscription_callback
+ROS2 -> LTTng: sample callback_start
+ROS2 -> UserCode: callback start
 activate UserCode
-UserCode -> ROS 2: callback end
+UserCode -> ROS2: callback end
 deactivate UserCode
 
-deactivate ROS 2
+deactivate ROS2
 @enduml
 ```
 

docs/design/event_and_latency_definitions/index.md

@@ -57,59 +57,59 @@ Below is a detailed sequence diagram of the SingleThreadedExecutor, from publish
 title: Definition of major tracepoints
 
 participant UserCode
-participant ROS 2
+participant ROS2
 participant DDS
 participant LTTng
 
 == Publisher Side ==
 
-activate ROS 2
+activate ROS2
 activate UserCode
-UserCode -> ROS 2: publish()
-activate ROS 2
-ROS 2 -> LTTng: sample rclcpp_publish \n sample rclcpp_intra_publish
+UserCode -> ROS2: publish()
+activate ROS2
+ROS2 -> LTTng: sample rclcpp_publish \n sample rclcpp_intra_publish
 
 
-ROS 2 -> DDS: dds_write()
-deactivate ROS 2
+ROS2 -> DDS: dds_write()
+deactivate ROS2
 activate DDS
 DDS -> LTTng: sample dds_write
 
-UserCode -> ROS 2 : callback_end
+UserCode -> ROS2 : callback_end
 deactivate UserCode
-deactivate ROS 2
+deactivate ROS2
 deactivate DDS
 
 
 == Subscription Side ==
 
-UserCode -> ROS 2 : spin()
+UserCode -> ROS2 : spin()
 activate DDS
-activate ROS 2
+activate ROS2
 
 loop
-    ROS 2 -> ROS 2 : wait until next event
-    activate ROS 2
-    DDS -> ROS 2: <notify> on_data_available
-    ROS 2 -> LTTng : sample on_data_available
-    deactivate ROS 2
+    ROS2 -> ROS2 : wait until next event
+    activate ROS2
+    DDS -> ROS2: <notify> on_data_available
+    ROS2 -> LTTng : sample on_data_available
+    deactivate ROS2
 
     deactivate DDS
-    ROS 2 -> DDS : reset ready-set, take messages
+    ROS2 -> DDS : reset ready-set, take messages
     activate DDS
-    DDS -> ROS 2
+    DDS -> ROS2
     deactivate DDS
 
     group execute timer callbacks
     end
 
     group execute subscription callbacks
-        ROS 2 -> LTTng: sample callback_start
-        ROS 2 -> UserCode: callback start
+        ROS2 -> LTTng: sample callback_start
+        ROS2 -> UserCode: callback start
         activate UserCode
-        UserCode -> ROS 2: callback end
+        UserCode -> ROS2: callback end
         deactivate UserCode
-        ROS 2 -> LTTng: sample callback_end
+        ROS2 -> LTTng: sample callback_end
     end
 
     group execute service callbacks
@@ -119,14 +119,14 @@ loop
     end
 end
 
-deactivate ROS 2
+deactivate ROS2
 @enduml
 ```
 
 Here, each element indicates the following
 
 - UserCode is a callback
-- ROS 2 is rclcpp, rcl, and rmw
+- ROS2 is rclcpp, rcl, and rmw
 - DDS is FastDDS or CycloneDDS
 - LTTng is the output destination for tracepoints
 

docs/design/event_and_latency_definitions/node.md

@@ -6,7 +6,7 @@ $$
 l_{node} = t_{transfer} - t_{receive}
 $$
 
-As transmission is replaced by publish and reception is subscription in the context of ROS 2, the equation is translated into the next one.
+As transmission is replaced by publish and reception is subscription in the context of ROS2, the equation is translated into the next one.
 
 $$
 l_{node} = t_{pub} - t_{sub}

docs/design/trace_points/diff.md

@@ -2,7 +2,7 @@
 
 <prettier-ignore-start>
 !!! note
-    This section explains differences between v0.2 implementation of CARET and implementation of ROS 2 Galactic. The explanation is not up-to-date from viewpoints of implementation, but it is enough for readers to understand differences from viewpoints of design.
+    This section explains differences between v0.2 implementation of CARET and implementation of ROS2 Galactic. The explanation is not up-to-date from viewpoints of implementation, but it is enough for readers to understand differences from viewpoints of design.
 <prettier-ignore-end>
 
 ## v0.2 vs galactic
@@ -13,7 +13,7 @@
 - <https://github.com/tier4/rclcpp/tree/galactic_tracepoint_added>
 - <https://github.com/tier4/ros2_tracing/tree/galactic_tracepoint_added>
 
-They are cloned from original ROS 2 repositories, respectively. This section describes the differences from originals.
+They are cloned from original ROS2 repositories, respectively. This section describes the differences from originals.
 
 ### rcl
 

docs/design/trace_points/index.md

@@ -28,15 +28,15 @@ Each tracepoint for CARET is added by one of following methods.
 ![builtin_and_extended_tracepoints](../../imgs/builtin_and_extended_trace_points.drawio.png)
 
 - Built-in tracepoints
-  - tracepoints embedded in original ROS 2 middleware which are utilized by ros2-tracing
+  - tracepoints embedded in original ROS2 middleware which are utilized by ros2-tracing
   - some of tracepoints, for service, action and lifecycle node, are not utilized by current CARET
 - Hooked tracepoints
   - CARET-dedicated tracepoints introduced by function hooking with LD_PRELOAD
 - Extended tracepoints
   - CARET-dedicated tracepoints added to the fork of rclcpp
 
-CARET utilizes some of the tracepoints built-in original ROS 2.
-Some of the tracepoints are added by hooking with LD_PRELOAD, and rest tracepoints are added to the fork of ROS 2's rclcpp.
+CARET utilizes some of the tracepoints built-in original ROS2.
+Some of the tracepoints are added by hooking with LD_PRELOAD, and rest tracepoints are added to the fork of ROS2's rclcpp.
 
 <prettier-ignore-start>
 !!! info

docs/faq/faq.md

@@ -5,8 +5,8 @@
 ### Setup fails
 
 - In case you encounter errors during setup or build process, please make sure to use an appropriate branch for your environment
-  - ROS 2 Humble, Ubuntu 22.04: main branch
-  - ROS 2 Iron, Ubuntu 22.04: main branch
+  - ROS2 Humble, Ubuntu 22.04: main branch
+  - ROS2 Iron, Ubuntu 22.04: main branch
 - It's also important to delete `./build` `./install` and `./src` directory before rebuilding CARET if you have built CARET using wrong settings
 
 ### CLI tool doesn't work

docs/faq/known_issues.md

@@ -41,7 +41,7 @@
 
 - Cause
   - Python3 deprecates building with `setup.py`
-  - However, `setup.py` is used to build ROS 2 by colcon
+  - However, `setup.py` is used to build ROS2 by colcon
 - Workaround
   - This warning does not prevent CARET from working and does not require any action
   - However, if you really want to remove the warning, the following steps can be taken to suppress the warning

docs/installation/installation.md

@@ -12,7 +12,7 @@ CARET is confirmed to run on the platforms shown in the following table with sup
 | Linux Kernel       | 5.15.x            |
 | Python3            | 3.10.x            |
 
-The recent version, after v0.3.0, of CARET supports only the combination of ROS 2 Humble and Ubuntu 22.04.  
+The recent version, after v0.3.0, of CARET supports only the combination of ROS2 Humble and Ubuntu 22.04.  
 We have added an experimental implementation to work with iron.  
 To install for iron, open `for iron` in the Installation section below and follow the instructions.
 

docs/installation/manual_installation.md

@@ -15,8 +15,8 @@ sudo apt-get install python3-babeltrace python3-lttng
 
 ### Install packages to build CARET
 
-Install ROS 2 Humble and related packages.
-See also [the official document for ROS 2](https://docs.ros.org/en/humble/Installation/Ubuntu-Development-Setup.html).
+Install ROS2 Humble and related packages.
+See also [the official document for ROS2](https://docs.ros.org/en/humble/Installation/Ubuntu-Development-Setup.html).
 
 ```bash
 sudo apt update && sudo apt install -y \

docs/recording/build_check.md

@@ -4,20 +4,20 @@
 
 A target application should be built with CARET/rclcpp to record trace data. If you have already built the application without CARET/rclcpp, you have to build the application with CARET/rclcpp again.
 
-For building the application with CARET/rclcpp, CARET's `local_setup.bash` should be applied along with ROS 2's `setup.bash` as shown below. Also, `-DBUILD_TESTING=OFF` should be given to build option.
+For building the application with CARET/rclcpp, CARET's `local_setup.bash` should be applied along with ROS2's `setup.bash` as shown below. Also, `-DBUILD_TESTING=OFF` should be given to build option.
 
 ```sh
 cd <path-to-workspace>
 
 source /opt/ros/humble/setup.bash
-source ~/ros2_caret_ws/install/local_setup.bash  # please keep the order after ROS 2's setup.bash
+source ~/ros2_caret_ws/install/local_setup.bash  # please keep the order after ROS2's setup.bash
 
 colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF
 ```
 
 <prettier-ignore-start>
 !!!info "Reason for building a target application with CARET/rclcpp"
-      CARET/rclcpp is a fork of [ROS 2-based rclcpp](https://github.com/ros2/rclcpp) which has some additional tracepoints defined by CARET.
+      CARET/rclcpp is a fork of [ROS2-based rclcpp](https://github.com/ros2/rclcpp) which has some additional tracepoints defined by CARET.
       Some tracepoints must be added to template implementation, which is referred by rclcpp header files, for CARET to record a target application.
       In order to apply rclcpp which has the additional tracepoints, the application have to be built with CARET/rclcpp again.
       Therefore, CARET cannot trace the application provided by Ubuntu's aptitude such as `demo_nodes_cpp`.
@@ -51,7 +51,7 @@ ros2 caret check_caret_rclcpp <path-to-workspace>
 In case CARET/rclcpp is not applied to the package you want to analyze, you need to fix it. The followings show possible causes and solutions.
 
 - Case 1: All packages are listed as CARET/rclcpp is not applied
-  - Make sure you applied CARET's `local_setup.bash` after ROS 2's `setup.bash` (keep the order)
+  - Make sure you applied CARET's `local_setup.bash` after ROS2's `setup.bash` (keep the order)
 - Case 2: Some, but not all, packages are listed as CARET/rclcpp is not applied
   - Make sure you have the following line in `package.xml` in the listed package
     - `<depend>rclcpp</depend>`

docs/recording/recording.md

@@ -13,7 +13,7 @@ Two terminals are needed for this method; one for executing a target application
 
 1. Open a terminal and launch a target application
 
-   - Perform environment settings in the same order as below. CARET's `local_setup.bash` should be applied along with ROS 2's `setup.bash` as the target application refers to CARET/rclcpp
+   - Perform environment settings in the same order as below. CARET's `local_setup.bash` should be applied along with ROS2's `setup.bash` as the target application refers to CARET/rclcpp
 
      ```sh
      # Environment settings (keep the order as below)

docs/recording/validating.md

@@ -92,6 +92,6 @@ ros2 caret check_ctf <path-to-trace-data>
 ### `Failed to find callback group`
 
 - Cause
-  - CARET failed to bind callback groups, callbacks and executors. It mainly because of ROS 2 "service". "Service" is not supported by CARET
+  - CARET failed to bind callback groups, callbacks and executors. It mainly because of ROS2 "service". "Service" is not supported by CARET
 - Solution
   - There is no solution at the moment. This warning can be ignored in most cases

docs/tutorials/recording.md

@@ -7,7 +7,7 @@ See [Recording](../recording/index.md) to find more details.
 
 ## Building application with CARET
 
-To trace a target application, the target should be built with CARET/rclcpp. If you have already built the target without CARET/rclcpp, you have to build the target with CARET/rclcpp again. For building the application with CARET/rclcpp, CARET's `local_setup.bash` should be applied along with ROS 2's `setup.bash` as shown below.
+To trace a target application, the target should be built with CARET/rclcpp. If you have already built the target without CARET/rclcpp, you have to build the target with CARET/rclcpp again. For building the application with CARET/rclcpp, CARET's `local_setup.bash` should be applied along with ROS2's `setup.bash` as shown below.
 
 ```bash
 mkdir -p ~/ros2_ws/src
@@ -63,7 +63,7 @@ There is no need to run following command.
 ros2 caret check_caret_rclcpp ~/ros2_ws/
 ```
 
-CARET does not require a build using caret-rclcpp with ROS 2 Distributions after iron.
+CARET does not require a build using caret-rclcpp with ROS2 Distributions after iron.
 
 </details>
 

docs/visualization/premise_of_communication.md

@@ -7,7 +7,7 @@
     This premise section may be boring for some users. If you don't have much time, please feel free to skip the section.
 <prettier-ignore-end>
 
-In ROS 2, nodes communicate each other via topic messages. The topic messages are transmitted by publishers and received by subscriptions. The following figure shows the simplest example where one node sends topic message and the other node receives it.
+In ROS2, nodes communicate each other via topic messages. The topic messages are transmitted by publishers and received by subscriptions. The following figure shows the simplest example where one node sends topic message and the other node receives it.
 
 ![simple communication](./imgs/simple_communication.svg)
 
@@ -17,7 +17,7 @@ Topic messages have possibility to be lost in communication path as they are tra
 
 ## Many-to-many communication
 
-ROS 2 allows topic messages to be published from multiple nodes and to be received by multiple nodes. Topic messages who share a same topic are transmitted and received among many nodes as the following figure shows.
+ROS2 allows topic messages to be published from multiple nodes and to be received by multiple nodes. Topic messages who share a same topic are transmitted and received among many nodes as the following figure shows.
 
 ![many-to-many communication](./imgs/many_to_many_communication.svg)