Use {interface(...)} for interfaces

Signed-off-by: Christophe Bedard <[email protected]>

Author: christophebedard

source/Tutorials/Advanced/Creating-An-RMW-Implementation.rst

@@ -178,11 +178,11 @@ Type support
 
 To bridge the gap between ROS 2 :doc:`interfaces <../../Concepts/Basic/About-Interfaces>` (specifically :doc:`custom interfaces <../Beginner-Client-Libraries/Custom-ROS2-Interfaces>`) and the underlying middleware, some glue code is needed.
 This is referred to as :ref:`type support <Type Specific Interfaces>`.
-When publishing a message of type ``std_msgs/msg/String``, ``rmw_publish()`` only gets a ``void *`` to the message, which could point to a C++ instance, or a C instance, and so on.
+When publishing a message of type {interface(std_msgs/msg/String)}, ``rmw_publish()`` only gets a ``void *`` to the message, which could point to a C++ instance, or a C instance, and so on.
 The pointer will be interpreted based on the type support information provided when the publisher was created.
 
 First, code is generated for each combination of interface type and user-facing language, independent of the underlying middleware.
-For example, for the ``std_msgs/msg/String`` message type, data structures are generated:
+For example, for the {interface(std_msgs/msg/String)} message type, data structures are generated:
 
 #. C++: ``std_msgs/msg/string.hpp`` header with ``std_msgs::msg::String`` class generated by the ``rosidl_generator_cpp`` package
 #. C: ``std_msgs/msg/string.h`` header with ``std_msgs__msg__String`` struct generated by the ``rosidl_generator_c`` package
@@ -467,7 +467,7 @@ Footnotes
     See `ros2/rmw_cyclonedds#377 <https://github.com/ros2/rmw_cyclonedds/issues/377>`_.
 
 .. [#fn_ts_fastrtps]
-    For example, the C++ message Fast CDR serialization/deserialization code generated for ``std_msgs/msg/Header`` is at ``std_msgs/rosidl_typesupport_fastrtps_cpp/std_msgs/msg/detail/dds_fastrtps/header__type_support.cpp`` under the ``build/`` directory.
+    For example, the C++ message Fast CDR serialization/deserialization code generated for {interface(std_msgs/msg/Header)} is at ``std_msgs/rosidl_typesupport_fastrtps_cpp/std_msgs/msg/detail/dds_fastrtps/header__type_support.cpp`` under the ``build/`` directory.
 
 .. [#fn_ts_dynamic]
-    For example, the C++ message introspection code generated for ``std_msgs/msg/Header`` is at ``std_msgs/rosidl_typesupport_introspection_cpp/std_msgs/msg/detail/header__type_support.cpp`` under the ``build/`` directory.
+    For example, the C++ message introspection code generated for {interface(std_msgs/msg/Header)} is at ``std_msgs/rosidl_typesupport_introspection_cpp/std_msgs/msg/detail/header__type_support.cpp`` under the ``build/`` directory.