Use main in tutorials

Signed-off-by: Carlos Agüero <[email protected]>

tutorials/04_messages.md

@@ -17,7 +17,7 @@ cd ~/gz_transport_tutorial
 
 ## Publisher
 
-Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/publisher.cc) file within the `gz_transport_tutorial`
+Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher.cc) file within the `gz_transport_tutorial`
 folder and open it with your favorite editor:
 
 \snippet example/publisher.cc complete
@@ -76,7 +76,7 @@ The method *Publish()* sends a message to all the subscribers.
 
 ## Subscriber
 
-Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/subscriber.cc)
+Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber.cc)
 file into the `gz_transport_tutorial` folder and open it with your favorite editor:
 
 \snippet example/subscriber.cc complete
@@ -126,7 +126,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and
 
 ## Building the code
 
-Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
+Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
 
 Once you have all your files, go ahead and create a `build/` directory within
 the `gz_transport_tutorial` directory.
@@ -287,7 +287,7 @@ between Gazebo Transport and another protocol or if you want to just print the
 content of a generic protobuf message using `DebugString()`, among other use
 cases.
 
-Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:
+Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:
 
 ```{.cpp}
 #include <google/protobuf/message.h>
@@ -416,12 +416,12 @@ often the integration of the message generation into the build system of your
 project. Next, you can find an example of a publisher and subscriber using a
 custom Protobuf message integrated with CMake.
 
-Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/publisher_custom_msg.cc)
-and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/subscriber_custom_msg.cc)
+Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher_custom_msg.cc)
+and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber_custom_msg.cc)
 files within the `gz_transport_tutorial`. Then, create a `msgs` folder and
-download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/msgs/stringmsg.proto)
-and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/msgs/CMakeLists.txt)
-files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/CMakeLists.txt)
+download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/stringmsg.proto)
+and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/CMakeLists.txt)
+files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt)
 file. You should have this file from the previous examples. Otherwise,
 download and place it within the `gz_transport_tutorial` folder.
 

tutorials/05_services.md

@@ -25,7 +25,7 @@ cd ~/gz_transport_tutorial
 
 ## Responser
 
-Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/responser.cc) file within the ``gz_transport_tutorial``
+Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser.cc) file within the ``gz_transport_tutorial``
 folder and open it with your favorite editor:
 
 ```{.cpp}
@@ -133,7 +133,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and
 
 ## Synchronous requester
 
-Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/requester.cc) file within the ``gz_transport_tutorial``
+Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester.cc) file within the ``gz_transport_tutorial``
 folder and open it with your favorite editor:
 
 ```{.cpp}
@@ -228,7 +228,7 @@ message.
 
 ## Asynchronous requester
 
-Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/requester_async.cc) file within the
+Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async.cc) file within the
 ``gz_transport_tutorial`` folder and open it with your favorite editor:
 
 ```{.cpp}
@@ -314,7 +314,7 @@ oneway service to process service requests without sending back responses.
 Oneway services don't accept any output parameters nor the requests have to wait
 for the response.
 
-Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/responser_oneway.cc) file within the
+Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_oneway.cc) file within the
 ``gz_transport_tutorial`` folder and open it with your favorite editor:
 
 ```{.cpp}
@@ -389,7 +389,7 @@ This case is similar to the oneway service provider. This code can be used for
 requesting a service that does not need a response back. We don't need any
 output parameters in this case nor we have to wait for the response.
 
-Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/requester_oneway.cc) file within the
+Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_oneway.cc) file within the
 ``gz_transport_tutorial`` folder and open it with your favorite editor:
 
 ```{.cpp}
@@ -454,7 +454,7 @@ request was already published.
 Sometimes we want to receive some result but don't have any input parameter to
 send.
 
-Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/responser_no_input.cc)
+Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_no_input.cc)
  file within the ``gz_transport_tutorial`` folder and open it with your
 favorite editor:
 
@@ -534,7 +534,7 @@ service requests.
 This case is similar to the service without input parameter. We don't send any
 request.
 
-Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/requester_no_input.cc)
+Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_no_input.cc)
 file within the ``gz_transport_tutorial`` folder and open it with your
 favorite editor:
 
@@ -577,14 +577,14 @@ request timed out or reached the service provider and ``result`` shows if the
 service was successfully executed.
 
 We also have the async version for service request without input. You should
-download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/requester_async_no_input.cc)
+download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async_no_input.cc)
 file within the ``gz_transport_tutorial`` folder.
 
 ## Building the code
 
-Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/CMakeLists.txt) file
+Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file
 within the ``gz_transport_tutorial`` folder. Then, create a `msgs` directory
-and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/msgs/stringmsg.proto) inside the
+and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/stringmsg.proto) inside the
 ``msgs`` directory.
 
 Once you have all your files, go ahead and create a ``build/`` folder within

tutorials/06_python_support.md

@@ -9,7 +9,7 @@ In this tutorial, we are going to show the functionalities implemented in Python
 These features are brought up by creating bindings from the C++ implementation 
 using pybind11. It is important to note that not all of C++ features are available
 yet, on this tutorial we will go over the most relevant features. For more information,
-refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/src/__init__.py)
+refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/main/python/src/__init__.py)
 file which is a wrapper for all the bindings.
 
 For this tutorial, we will create two nodes that communicate via messages. One node
@@ -24,7 +24,7 @@ cd ~/gz_transport_tutorial
 
 ## Publisher
 
-Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/examples/publisher.py) file within the `gz_transport_tutorial`
+Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/publisher.py) file within the `gz_transport_tutorial`
 folder and open it with your favorite editor:
 
 \snippet python/examples/publisher.py complete
@@ -89,7 +89,7 @@ each topic. The method *publish()* sends a message to all the subscribers.
 
 ## Subscriber
 
-Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/examples/subscriber.py)
+Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/subscriber.py)
 file into the `gz_transport_tutorial` folder and open it with your favorite editor:
 
 \snippet python/examples/subscriber.py complete
@@ -240,9 +240,9 @@ in several places (publisher and subscribers).
 
 We developed a couple of examples that demonstrate this particular issue. Take
 a look at a publisher and subscriber (whithin the same node) that have race
-conditions triggered in the [data_race_without_mutex.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/examples/data_race_without_mutex.py) file. The proposed solution to this
+conditions triggered in the [data_race_without_mutex.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/data_race_without_mutex.py) file. The proposed solution to this
 issue is to use the `threading` library, you can see the same example with a mutex
-in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/examples/data_race_with_mutex.py) file.
+in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/data_race_with_mutex.py) file.
 
 You can run any of those examples by just doing the following in a terminal:
 ```{.sh}
@@ -380,7 +380,7 @@ The command `gz log playback` also supports the notion of topic remapping. Run
 
 ## Service Requester
 
-Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/gz-transport15/python/examples/requester.py)
+Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/requester.py)
 file into the `gz_transport_tutorial` folder and open it with your favorite editor:
 
 \snippet python/examples/requester.py complete
@@ -421,7 +421,7 @@ result and response of the request in some variables and printing them out.
 
 Unfortunately, this feature is not available on Python at the moment. However,
 we can use a service responser created in C++ and make a request to it from a
-code in Python. Taking that into account, we will use the [response.cc](https://github.com/gazebosim/gz-transport/blob/gz-transport15/example/responser.cc) file as the service responser.
+code in Python. Taking that into account, we will use the [response.cc](https://github.com/gazebosim/gz-transport/blob/main/example/responser.cc) file as the service responser.
 
 ## Running the examples
 

tutorials/08_relay.md

@@ -25,11 +25,11 @@ install Docker following any of the existing guides available
 ([here](https://docs.docker.com/get-docker/)'s one).
 
 We're going to build a Docker image and run it inside your host computer.
-Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport15/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport15/docker/run.bash) and
-[Dockerfile](https://github.com/gazebosim/gz-transport/raw/gz-transport15/docker/gz-transport/Dockerfile) files.
+Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/main/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/main/docker/run.bash) and
+[Dockerfile](https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile) files.
 
 ```{.sh}
-wget https://github.com/gazebosim/gz-transport/raw/gz-transport15/docker/gz-transport/Dockerfile -O Dockerfile
+wget https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile -O Dockerfile
 ```
 
 Now, it's time to build the Docker image:

tutorials/10_logging.md

@@ -25,7 +25,7 @@ cd ~/gz_transport_tutorial
 
 ## Record
 
-Download the [record.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/record.cc)
+Download the [record.cc](https://github.com/gazebosim/gz-transport/raw/main/example/record.cc)
 file within the `gz_transport_tutorial` folder and open it with your favorite editor:
 
 \snippet example/record.cc complete
@@ -79,7 +79,7 @@ stops the log recording as expected.
 
 ## Play back
 
-Download the [playback.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/playback.cc)
+Download the [playback.cc](https://github.com/gazebosim/gz-transport/raw/main/example/playback.cc)
 file within the `gz_transport_tutorial` folder and open it with your favorite
 editor:
 
@@ -125,7 +125,7 @@ thread until all messages have been published.
 
 ## Building the code
 
-Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport15/example/CMakeLists.txt)
+Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt)
 file within the `gz_transport_tutorial` folder.
 
 Once you have all your files, go ahead and create a `build/` directory within

tutorials/23_topic_statistics.md

@@ -44,7 +44,7 @@ if (!node.EnableStats(topic, true))
 }
 ```
 
-A complete example can be found in the [subscriber_stats example program](https://github.com/gazebosim/gz-transport/blob/gz-transport15/example/subscriber_stats.cc).
+A complete example can be found in the [subscriber_stats example program](https://github.com/gazebosim/gz-transport/blob/main/example/subscriber_stats.cc).
 
 With both `GZ_TRANSPORT_TOPIC_STATISTICS` set to `1` and a node
 enabling topic statistics, then you will be able to echo statistic
@@ -76,7 +76,7 @@ if (!node.EnableStats(topic, true, "/my_stats", 100))
 For running the example, build the binaries in the example directory:
 
 ```
-git clone https://github.com/gazebosim/gz-transport -b gz-transport15
+git clone https://github.com/gazebosim/gz-transport -b main
 cd gz-transport/example
 cmake -S . -B build
 # For UNIX