Updated file.

gazebo_basics.md

@@ -2,7 +2,7 @@
 
 ### Empty World Simulation
 To spawn the Stretch in gazebo's default empty world run the following command in your terminal.
-```
+```bash
 roslaunch stretch_gazebo gazebo.launch
 ```
 This will bringup the robot in the gazebo simulation similar to the image shown below.
@@ -15,13 +15,13 @@ With a modification of the gazebo launch file, you can spawn the Stretch robot i
 
 To preserve the original gazebo.launch file, we will copy the file and rename it to the following.
 
-```
+```bash
 cd catkin_ws/src/stretch_ros/stretch_gazebo/launch/
 cp gazebo.launch stretch_willowgarage_world.launch
 ```
 
 You can use your preferred text editor to modify the value for the world name argument like the following
-```
+```html
 <arg name="world_name" value="worlds/willowgarage.world" />
 ```
 Use the images below for further reference.
@@ -37,7 +37,7 @@ Use the images below for further reference.
 
 Make sure to save the file. Now you can run the new launch file with a Stretch robot in the willowgarage world.
 
-```
+```bash
 roslaunch stretch_gazebo stretch_willowgarage_world.launch
 ```
 

getting_started.md

@@ -7,7 +7,7 @@ Hello Robot utilizes Ubuntu, an open source Linux operating system, for the Stre
 ## ROS Setup on Local Computer
 
 Hello Robot is currently running Stretch on Ubuntu 20.04 and on ROS Noetic.  To begin the setup, clone the [stretch_ros](https://github.com/hello-robot/stretch_ros.git) and [realsense_gazebo_plugin packages]( https://github.com/pal-robotics/realsense_gazebo_plugin) to your preferred workspace. Then install dependencies and build the packages.
-```
+```bash
 cd ~/catkin_ws/src
 git clone https://github.com/hello-robot/stretch_ros
 git clone https://github.com/pal-robotics/realsense_gazebo_plugin

internal_state_of_stretch.md

@@ -1,7 +1,7 @@
 ## Getting the State of the Robot
 
 Begin by starting up [Stretch in simulation](getting_started) and the [keyboard teleoperation](teleoperating_stretch.md). Then utilize the ROS command-line tool, [rostopic](http://wiki.ros.org/rostopic), to display Stretch's internal state information. For instance, to view the current state of the robot's joints, simply type the following in a terminal.
-```
+```bash
 rostopic echo /joint_states -n1
 ```
 Note that the flag, `-n1`, at the end of the command, defines the count of how many times you wish to publish the current topic information. If you prefer to continuously print the topic for debugging purposes, then remove the flag.
@@ -24,7 +24,7 @@ effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
 ```
 
 Let's say you are interested in only seeing the `header` component of the `/joint_states` topic, you can output this within the rostopic command-line tool by typing the following command.
-```
+```bash
 rostopic echo /joint_states/header -n1
 ```
 Your terminal will then output something similar to this:

rviz_basics.md

@@ -2,7 +2,7 @@
 
 Let's bringup stretch in the willowgarage world from the [gazebo basics tutorial](gazebo_basics.md) and RViz by using the following command.
 
-```
+```bash
 roslaunch stretch_gazebo stretch_willowgarage_world.launch rviz:=true
 ```
 the `rviz` flag will open an RViz window  to visualize a variety of ROS topics.

teleoperating_stretch.md

@@ -2,7 +2,7 @@
 
 First, [startup Stretch in simulation](gazebo_basics.md). Then in a separate terminal type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
 
-```
+```bash
 roslaunch stretch_gazebo teleop_keyboard.launch
 ```
 Below is the keyboard commands that allow a user to move Stretch.  
@@ -39,7 +39,7 @@ The keyboard teleop node remaps the *cmd_vel* topics to */stretch_diff_drive_con
 
 An alternative for robot base teleoperation is to use an Xbox controller. Start by stopping the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine through cable or dongle and run the following command.
 
-```
+```bash
 roslaunch stretch_gazebo teleop_joy.launch
 ```
 Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless it is being pressed. For an Logitech F310 joystick this button is A.