Fixed indentation issues, trailing whitespace, and other two erros

source/Demos/Canadarm.rst

@@ -4,7 +4,7 @@ Canadarm Demo
 Build the Space ROS & MoveIt2 Docker Images
 -------------------------------------------
 
-If you haven't already, follow `these <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_ instructions for building the MoveIt2 docker image, and `these <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_ instructions for the spaceros image. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
+If you haven't already, follow `the MoveIt2 instructions  <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_, and `the Space ROS image instructions <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
 
 Space ROS Space Robots Demo Docker Image
 ----------------------------------------
@@ -13,8 +13,8 @@ Build the ``space_robots`` image:
 
 .. code-block:: console
 
-	cd ../space_robots
-	./build.sh
+    cd ../space_robots
+    ./build.sh
 
 Running the Demo Docker
 -----------------------
@@ -23,13 +23,13 @@ Run the following to allow GUI passthrough:
 
 .. code-block:: console
 
-	xhost +local:docker
+    xhost +local:docker
 
 Then run:
 
 .. code-block:: console
 
-	./run.sh
+    ./run.sh
 
 Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
 
@@ -40,6 +40,6 @@ Run the following command:
 
 .. code-block:: console
 
-	ros2 launch canadarm canadarm.launch.py
+    ros2 launch canadarm canadarm.launch.py
 
 

source/Demos/Mars-Rover.rst

@@ -13,8 +13,8 @@ Build the ``space_robots`` image:
 
 .. code-block:: console
 
-	cd ../space_robots
-	./build.sh
+    cd ../space_robots
+    ./build.sh
 
 Running the Demo Docker
 -----------------------
@@ -23,13 +23,13 @@ Run the following to allow GUI passthrough:
 
 .. code-block:: console
 
-	xhost +local:docker
+    xhost +local:docker
 
 Then run:
 
 .. code-block:: console
 
-	./run.sh
+    ./run.sh
 
 Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
 
@@ -40,7 +40,7 @@ Launch the demo:
 
 .. code-block:: console
 
-	ros2 launch mars_rover mars_rover.launch.py
+    ros2 launch mars_rover mars_rover.launch.py
 
 On the top left corner, click on the refresh button to show camera feed.
 
@@ -54,17 +54,17 @@ Open a new terminal and attach it to the currently running container:
 
 .. code-block:: console
 
-	docker exec -it <container-name> bash
+    docker exec -it <container-name> bash
 
 Make sure packages are sourced:
 
 .. code-block:: console
 
-	source ~/spaceros/install/setup.bash
+    source ~/spaceros/install/setup.bash
 
 .. code-block:: console
 
-	source ~/demos_ws/install/setup.bash
+    source ~/demos_ws/install/setup.bash
 
 Available Commands
 ~~~~~~~~~~~~~~~~~~
@@ -73,7 +73,7 @@ Drive the rover forward:
 
 .. code-block:: console
 
-	ros2 service call /move_forward std_srvs/srv/Empty
+    ros2 service call /move_forward std_srvs/srv/Empty
 
 Stop the rover:
 
@@ -85,37 +85,37 @@ Turn left:
 
 .. code-block:: console
 
-	ros2 service call /turn_left std_srvs/srv/Empty
+    ros2 service call /turn_left std_srvs/srv/Empty
 
 Turn right:
 
 .. code-block:: console
 
-	ros2 service call /turn_right std_srvs/srv/Empty
+    ros2 service call /turn_right std_srvs/srv/Empty
 
 Open the tool arm:
 
 .. code-block:: console
 
-	ros2 service call /open_arm std_srvs/srv/Empty
+    ros2 service call /open_arm std_srvs/srv/Empty
 
 Cloes the tool arm:
 
 .. code-block:: console
 
-	ros2 service call /close_arm std_srvs/srv/Empty
+    ros2 service call /close_arm std_srvs/srv/Empty
 
 Open the mast (camera arm):
 
 .. code-block:: console
 
-	ros2 service call /mast_open std_srvs/srv/Empty
+    ros2 service call /mast_open std_srvs/srv/Empty
 
 Close the mast (camera arm):
 
 .. code-block:: console
 
-	ros2 service call /mast_close std_srvs/srv/Empty
+    ros2 service call /mast_close std_srvs/srv/Empty
 
 
 

source/Demos/MoveIt2.rst

@@ -10,13 +10,13 @@ Move into your Space ROS workspace:
 
 .. code-block:: console
 
-	cd spaceros_ws
+    cd spaceros_ws
 
 Clone the docker repository:
 
 .. code-block:: console
 
-	git clone https://github.com/space-ros/docker
+    git clone https://github.com/space-ros/docker
 
 Building the MoveIt2 Image
 --------------------------
@@ -25,8 +25,8 @@ To build the docker image, run:
 
 .. code-block:: console
 
-	cd docker/moveit2
-	./build.sh
+    cd docker/moveit2
+    ./build.sh
 
 The build process will take about 30 minutes, depending on the host computer.
 
@@ -37,30 +37,30 @@ After building the image, you can see the newly-built image by running:
 
 .. code-block:: console
 
-	docker image list
+    docker image list
 
 The output will look something like this:
 
 .. code-block:: console
 
-	REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
-	openrobotics/moveit2    latest                     6edb2edc9643   10 hours ago   15.5GB
-	openrobotics/spaceros   latest                     629b13cf7b74   12 hours ago   7.8GB
-	nvidia/cudagl           11.4.1-devel-ubuntu20.04   336416dfcbba   1 week ago     5.35GB
+    REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
+    openrobotics/moveit2    latest                     6edb2edc9643   10 hours ago   15.5GB
+    openrobotics/spaceros   latest                     629b13cf7b74   12 hours ago   7.8GB
+    nvidia/cudagl           11.4.1-devel-ubuntu20.04   336416dfcbba   1 week ago     5.35GB
 
 The new image is named openrobotics/moveit2:latest.
 
 There is a run.sh script provided for convenience that will run the spaceros image in a container.
 
 .. code-block:: console
 
-	./run.sh
+    ./run.sh
 
 Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. You'll now be running inside the container and should see a prompt similar to this:
 
 .. code-block:: console
 
-	spaceros-user@8e73b41a4e16:~/moveit2#
+    spaceros-user@8e73b41a4e16:~/moveit2#
 
 Running MoveIt2 Tutorials
 -------------------------
@@ -69,7 +69,7 @@ Run the following command to launch the MoveIt2 tutorials demo launch file:
 
 .. code-block:: console
 
-	ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
+    ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
 
 You should see lots of console output and the rviz2 window appear:
 
@@ -84,7 +84,7 @@ To run the Move Group C++ Interface Demo, execute the following command:
 
 .. code-block:: console
 
-	ros2 launch moveit2_tutorials move_group.launch.py
+    ros2 launch moveit2_tutorials move_group.launch.py
 
 .. image:: ../images/move-group-demo.png