ros-navigation · SteveMacenski · Mar 25, 2020 · Mar 25, 2020
diff --git a/sphinx_doc/build_instructions/index.rst b/sphinx_doc/build_instructions/index.rst
@@ -37,12 +37,12 @@ We're going to create a new workspace, ``navigation2_ws``, clone our Navigation2
 
   mkdir -p ~/navigation2_ws/src
   cd ~/navigation2_ws/src
-  git clone https://github.com/ros-planning/navigation2.git --branch eloquent-devel
+  git clone https://github.com/ros-planning/navigation2.git --branch <ros2-distro>-devel
   cd ~/navigation2_ws
-  rosdep install -y -r -q --from-paths src --ignore-src --rosdistro eloquent
+  rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
   colcon build --symlink-install
 
-Note: You need to change ``--rosdistro`` to the selected ROS 2 distribution name (e.g ``eloquent``).
+Note: You need to change ``--rosdistro`` to the selected ROS 2 distribution name (e.g ``eloquent``, ``foxy``).
 
 
 
@@ -54,7 +54,7 @@ Quickstart Build Master
 Steps
 -----
 
-Install all ROS 2 dependencies from the `ROS2 Installation page <https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup>`_.
+Install all ROS 2 dependencies from the `ROS2 Installation page <https://index.ros.org/doc/ros2/Installation/>`_.
 Ensure there are no ROS environment variables set in your terminal or `.bashrc` file before taking the steps below.*
 
 

diff --git a/sphinx_doc/getting_started/index.rst b/sphinx_doc/getting_started/index.rst
@@ -4,8 +4,7 @@ Getting Started
 ###############
 
 This document will take you through the process of installing the |PN| binaries
-and navigating a simulated Turtlebot 3 in the Gazebo simulator. We'll use the
-|Distro| version of ROS 2 and Ubuntu 18 for the standard installation options.
+and navigating a simulated Turtlebot 3 in the Gazebo simulator.
 
 .. note::
 
@@ -26,14 +25,14 @@ Installation
 
    .. code-block:: bash
 
-      sudo apt install ros-dashing-navigation2
-      sudo apt install ros-dashing-nav2-bringup
+      sudo apt install ros-<ros2-distro>-navigation2
+      sudo apt install ros-<ros2-distro>-nav2-bringup
 
 3. Install the Turtlebot 3 packages:
 
    .. code-block:: bash
 
-      sudo apt install ros-dashing-turtlebot3*
+      sudo apt install ros-<ros2-distro>-turtlebot3*
 
 Running the Example
 *******************
@@ -43,9 +42,9 @@ Running the Example
 
    .. code-block:: bash
 
-      source /opt/ros/dashing/setup.bash
+      source /opt/ros/<ros2-distro>/setup.bash
       export TURTLEBOT3_MODEL=waffle
-      export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/dashing/share/turtlebot3_gazebo/models
+      export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models
 
 3. In the same terminal, run
 

diff --git a/sphinx_doc/substitutions.txt b/sphinx_doc/substitutions.txt
@@ -19,11 +19,7 @@
 
 .. |PP| replace:: https://github.com/ros-planning/navigation2/blob/master
 
-.. |Distro| replace:: Dashing
-
-.. |distro| replace:: dashing
-
-.. _`ROS 2 binary packages`: https://index.ros.org/doc/ros2/Installation/Dashing/#binary-packages
+.. _`ROS 2 binary packages`: https://index.ros.org/doc/ros2/Installation/
 
 .. _`official Turtlebot 3 manual`: http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2/#ros2
 

diff --git a/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst b/sphinx_doc/tutorials/docs/navigation2_on_real_turtlebot3.rst
@@ -21,9 +21,6 @@ Overview
 This tutorial shows how to control and navigate Turtlebot 3 using the ROS2 Navigation2 on a physical Turtlebot 3 robot.
 Before completing this tutorials, completing :ref:`getting_started` is highly recommended especially if you are new to ROS and Navigation2.
 
-``ROS2 Dashing`` and ``Navigation2 Dashing 0.2.4`` are used to create this tutorial.
-You should be able to do this tutorial using other Navigation2 versions as well.
-
 This tutorial may take about 1 hour to complete. 
 It depends on your experience with ROS, robots, and what computer system you have.
 

diff --git a/sphinx_doc/tutorials/docs/navigation2_with_slam.rst b/sphinx_doc/tutorials/docs/navigation2_with_slam.rst
@@ -27,11 +27,11 @@ If you don't have them installed, please follow :ref:`getting_started`.
 
 SLAM Toolbox can be installed via:
 
-  ``sudo apt install ros-dashing-slam-toolbox``
+  ``sudo apt install ros-<ros2-distro>-slam-toolbox``
 
 or from built from source in your workspace with:
 
-  ``git clone -b dashing-devel git@github.com:stevemacenski/slam_toolbox.git``
+  ``git clone -b <ros2-distro>-devel git@github.com:stevemacenski/slam_toolbox.git``
 
 
 Tutorial Steps

diff --git a/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst b/sphinx_doc/tutorials/docs/navigation2_with_stvl.rst
@@ -52,7 +52,7 @@ Follow the same process as in :ref:`getting_started` for installing and setting
 1- Install STVL
 ---------------
 
-STVL can be installed in ROS2 Dashing and Eloquent via the ROS Build Farm:
+STVL can be installed in ROS2 via the ROS Build Farm:
 
 - ``sudo apt install ros-<ros2-distro>-spatio-temporal-voxel-layer``