Update images links.

doc/Calibration.md

@@ -34,16 +34,16 @@ For this step, you must have configured all the parameters mentioned in the prev
 
 4)  Place the calibration object on Bolt while the simulation is running.
 
-    ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_1-R.jpeg?raw=true "Bolt with object")
-    ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_2-R.jpeg?raw=true "Bolt with object")
+    ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Calibration_Bolt_1-R.jpeg?raw=true "Bolt with object")
+    ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Calibration_Bolt_2-R.jpeg?raw=true "Bolt with object")
 
 5) When the object is placed, press `Ctrl + C` to stop the simulation and take one of the latest return values.
 
-    ![Bolt Calibration Values](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_3-R.jpeg.png?raw=true "Bolt Calibration Values")
+    ![Bolt Calibration Values](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Calibration_Bolt_3-R.jpeg.png?raw=true "Bolt Calibration Values")
 
 6)  Open file `odri_bolt_robot/odri_bolt_description/src/bolt_config.yaml` and paste the values in the variable **position_offsets (line 30)**, save the file and do a colcon build at `Bolt_ws/`.
 
-    ![Offset Change](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_4-R.png?raw=true "Offset Change")
+    ![Offset Change](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Calibration_Bolt_4-R.png?raw=true "Offset Change")
 
 
 7)  If you want to change the way each motor finds its Index, go to line 26 at Search_methods  and change it as you wish (by default, everything is set to POS):

doc/Forward_Position_Bolt.md

@@ -8,7 +8,7 @@ After you've followed all previous tutorials, you have all the knowledge require
 ## Set the positions
 
 
-To move Bolt as you wish, you can use a `controller`. For this you will just need a few points from each joint. To find the points you want to send to Bolt, you can use the file [demo_bolt_sensor_reading.cpp](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_hardware_interface_bolt/test/demo_bolt_sensor_reading.cpp):
+To move Bolt as you wish, you can use a `controller`. For this you will just need a few points from each joint. To find the points you want to send to Bolt, you can use the file [demo_bolt_sensor_reading.cpp](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/ros2_hardware_interface_bolt/test/demo_bolt_sensor_reading.cpp):
 
 - Open a Terminal and source Bolt :
 
@@ -20,7 +20,7 @@ To move Bolt as you wish, you can use a `controller`. For this you will just nee
 
 - Move the robot to where you want it to go and press `Ctrl-C` to stop the file `demo_bolt_sensor_reading` running.
 
-- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8`
+- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8`
 `pos1`
 
 - Repeat this as many times as you want , just pass the next position in the yaml file to pos2 etc...

doc/Launch.md

@@ -11,11 +11,11 @@ After you've followed all previous tutorials, you have the required knowledge  t
 
 Launch files are code in python, we make them to creating `commands lines` and `launch some nodes`. They are really useful because when we run them we can run a lot of nodes and commands lines at the same time.
 
-All the launch files can be found in the [odri_bolt_bringup](https://github.com/stack-of-tasks/odri_bolt_robot/tree/master/odri_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt_system_position_only.launch.py):
+All the launch files can be found in the [odri_bolt_bringup](https://github.com/stack-of-tasks/odri_bolt_robot/tree/main/odri_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_bringup/launch/bolt_system_position_only.launch.py):
 
 When you start a launch file you need to `declare the description` of your launch and inside you declare every argument you need.
 After having declared every argument, you `initialize` them with what you  want to do.
-At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`.
+At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`.
 
 If you need to launch a `real time node`, you must call them as a `Owner user` with the `sudo` command.
 
@@ -37,7 +37,7 @@ You may need to setup 2 things to run a launch file :
 
     When you run a launch file with a node in sudo (in real time), the sudo user and your user can't talk to each other. To resolve this problem, you have to add a file inside your directory.
 
-    Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_description/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` :
+    Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_description/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` :
 
             export FASTRTPS_DEFAULT_PROFILES_FILE=<PATH_TO_THE_FILE>
 
@@ -82,13 +82,13 @@ Now you can really play with Bolt, if you have followed correctly each tutorial
 
         you will see that list :
 
-	![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Launch_Bolt_1-R.png?raw=true "Topic List")
+	![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Launch_Bolt_1-R.png?raw=true "Topic List")
 
     -  run the topic `/joint_states` :
 
 			ros2 topic echo /joint_states
 
-	![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Launch_Bolt_2-R.png?raw=true "/join_states")
+	![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Launch_Bolt_2-R.png?raw=true "/join_states")
 
 	**You can see all the parameters of Bolt in real time !**
 

doc/Setup_Bold.md

@@ -31,24 +31,24 @@
 
 2) Take your `power supply`, turn it on and adjust behind the power supply the port (P1/P2/P3) and set the mode to `SET` then set the voltage to `20V` and the amperage to `5A` on the front. Finally, set the mode to `NORMAL`.
 
-![Behind alimentation](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_1-R.jpeg?raw=true "Behind alimentation")
+![Behind alimentation](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_1-R.jpeg?raw=true "Behind alimentation")
 
 3) Connect the `emergency stop button` to the `power supply` (from behind,and not in front) :
 
-    ![Not Front](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_2-R.jpeg?raw=true "Not Front")
-    ![Behind](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_3-R.jpeg?raw=true "Behind")
+    ![Not Front](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_2-R.jpeg?raw=true "Not Front")
+    ![Behind](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_3-R.jpeg?raw=true "Behind")
 
 4) Connect the other end of the `emergency button` to the robot and the `Ethernet cable` to your computer.
 
-     ![Button Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_7-R.jpeg?raw=true "Buttun Connection")
+     ![Button Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_7-R.jpeg?raw=true "Buttun Connection")
 
 5) Connect the `power cable` to `Bolt`, one end to the Ethernet port of the `Master-Board` and the `power cable inside Bolt`.
 
-    ![Bolt Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_4-R.jpeg?raw=true "Connection")
+    ![Bolt Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_4-R.jpeg?raw=true "Connection")
 
 6) Check if any cable is `plugged out` of the `Master-Board` (below Bolt).
 
-    ![Connection Master-Board](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_5-R.jpeg?raw=true "Master-Board Connection")
+    ![Connection Master-Board](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_5-R.jpeg?raw=true "Master-Board Connection")
 
 7) Finally, `unlock the emergency stop button` and `power on` the `supply power`.
 

doc/Start.md

@@ -82,7 +82,7 @@ Every time you change something in your code you need to upload with a `colcon b
 
 4) If everything install properly you must come to this end when you do your `first colcon build` :
 
-![Colcon Build](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Start_Bolt_1-R.png?raw=true "Colcon Build")
+![Colcon Build](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Start_Bolt_1-R.png?raw=true "Colcon Build")
 
 5) To only `update a part` of your code you changed, you can do this :