added Publishing-Messages-Using-YAML-Files.rst and edited Intermediat…

[NickTziaros]

Closes #4984

I created a first draft of the tutorial.

I used a geometry_msgs/msg/Twist message for the demo, assuming that those new to ROS 2 are already familiar with it from the Understanding Topics tutorial. However, since this functionality is especially useful for editing and publishing more complex structured messages, I could switch to using a geometry_msgs/msg/PoseStamped message instead.

@fujitatomoya Let me know what you think and if this is what you had in mind.

[fujitatomoya]

overall, lgtm. i believe this documentation is really well-explained 👍

but i would like to hear opinion if we want to keep this tutorial under intermediate section. for me, this could be in beginner's tutorial aligned with https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html. CC: @kscottz @christophebedard

[NickTziaros]

but i would like to hear opinion if we want to keep this tutorial under intermediate section

I completely agree. I could even argue that it could be integrated into https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html but that might be a strech

[fujitatomoya]

I could even argue that it could be integrated into https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html but that might be a strech

yeah i thought that too. IMO https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html just introduces each verbs for beginners, so that it can just introduce what kind of verbs are available, saying probably not describing the options or arguments like this case. i prefer to have another page aligned with it, and it can be under beginner's tutorial.

[christophebedard]

Looks good to me, thank you for the PR!

[christophebedard]

but i would like to hear opinion if we want to keep this tutorial under intermediate section. for me, this could be in beginner's tutorial aligned with https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html

I completely agree. I could even argue that it could be integrated into https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html but that might be a stretch

yeah i thought that too. IMO https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html just introduces each verbs for beginners, so that it can just introduce what kind of verbs are available, saying probably not describing the options or arguments like this case. i prefer to have another page aligned with it, and it can be under beginner's tutorial.

I really think we should keep the beginner tutorials very simple and not add too many tutorials there, which also means not having too many ways of doing things in them.

However, one thing we can do is to add more links between tutorials, e.g., a link at the end of a tutorial to another, more advanced tutorial.

[fujitatomoya]

@NickTziaros thanks for fixing. we can always come back to discussion on where this should land, i think that is okay to have this in intermediate section after the reviews from @christophebedard @ahcorde . so let's merge this 🚀

[fujitatomoya]

Note that, we cannot backport this ros2/ros2cli#925 is only available on rolling.