Put versioned links in plugin interface pages

Author: filipopo

docs/45-plugin-interface/02-controllers/02-controllers.md

@@ -10,8 +10,7 @@ This page is describing the upcoming ROS2 version of the MRS UAV System (however
 
 # The Controller plugin interface
 
-The Controller plugin takes current UAV state and command from the [Reference tracker](https://ctu-mrs.github.io/docs/features/trackers/) and provides the desired control outputs, which are sent to the flight controller (Embedded autopilot block in diagram below) via [Hardware API](https://ctu-mrs.github.io/docs/plugin-interface/hardware-api/).
-Diagram below shows the data architecture of the MRS system where the block containing the Controller plugin is marked in red.
+The Controller plugin takes current UAV state and command from the [Reference tracker](../../50-features/20-trackers/index.md) and provides the desired control outputs, which are sent to the flight controller (Embedded autopilot block in diagram below) via the [Hardware API](../01-hardware-api/index.md). The diagram below shows the data architecture of the MRS system where the block containing the Controller plugin is marked in red.
 
 The controller plugin is compiled as [ROS plugins](http://wiki.ros.org/pluginlib) with the [interface](https://github.com/ctu-mrs/mrs_uav_managers/blob/master/include/mrs_uav_managers/controller.h) defined by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers).
 A controller plugin from any ROS package can be loaded dynamically by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers) without it being present during [control manager](https://github.com/ctu-mrs/mrs_uav_managers)'s compile time.
@@ -32,7 +31,7 @@ The controller plugin can output any of the following control outputs:
   * 3D body-frame Velocity + Heading
   * 3D Position + Heading
 
-In the controller plugin source code, you can decide what to return, but it must be available in [Hardware API](https://ctu-mrs.github.io/docs/plugin-interface/hardware-api/). 
+In the controller plugin source code, you can decide what to return, but it must be available in [Hardware API](../01-hardware-api/index.md).
 
 ## Example controller plugin 
 

docs/45-plugin-interface/03-trackers/03-trackers.md

@@ -11,7 +11,7 @@ This page is describing the upcoming ROS2 version of the MRS UAV System (however
 # The Tracker plugin interface
 
 
-The Tracker plugin receives the high-level references from a Mission \& navigation software and provides the UAV state reference to the [Feedback controller](https://ctu-mrs.github.io/docs/features/controllers/) that ensure the UAV follows the reference.
+The Tracker plugin receives the high-level references from a Mission \& navigation software and provides the UAV state reference to the [Feedback controller](../../50-features/10-controllers/index.md) that ensure the UAV follows the reference.
 In general, the high-level reference received from the Mission \& navigation software can be
 
 * a single position and heading reference,
@@ -39,8 +39,7 @@ The tracker plugin can output the combination following references:
   * Throttle 
   * Full state prediction 
 
-In the tracker plugin source code, you can decide which references should be considered by the [Feedback controller](https://ctu-mrs.github.io/docs/features/controllers/).
-If you develop your own [controller plugin](https://ctu-mrs.github.io/docs/plugin-interface/controllers/), ensure that your controller supports the required tracker references.
+In the tracker plugin source code, you can decide which references should be considered by the [Feedback controller](../../50-features/10-controllers/index.md). If you develop your own [controller plugin](../02-controllers/02-controllers.md), ensure that your controller supports the required tracker references.
 
 ## Example tracker plugin 
 

versioned_docs/version-1.5.0/45-plugin-interface/02-controllers/02-controllers.md

@@ -6,7 +6,7 @@ description: API for the controller plugins
 
 # The Controller plugin interface
 
-The Controller plugin takes current UAV state and command from the [Reference tracker](https://ctu-mrs.github.io/docs/features/trackers/) and provides the desired control ouptuts, which are sent to the flight controller (Embedded autopilot block in diagram below) via [Hardware API](https://ctu-mrs.github.io/docs/plugin-interface/hardware-api/).
+The Controller plugin takes current UAV state and command from the [Reference tracker](../../50-features/20-trackers/index.md) and provides the desired control ouptuts, which are sent to the flight controller (Embedded autopilot block in diagram below) via [Hardware API](../01-hardware-api/index.md).
 Diagram below shows the data architecture of the MRS system where the block containing the Controller plugin is marked in red.
 
 The controller plugin is compiled as [ROS plugins](http://wiki.ros.org/pluginlib) with the [interface](https://github.com/ctu-mrs/mrs_uav_managers/blob/master/include/mrs_uav_managers/controller.h) defined by the [control manager](https://github.com/ctu-mrs/mrs_uav_managers).
@@ -28,7 +28,7 @@ The controller plugin can output any of the following control outputs:
   * 3D body-frame Velocity + Heading
   * 3D Position + Heading
 
-In the controller plugin source code, you can decide what to return, but it must be available in [Hardware API](https://ctu-mrs.github.io/docs/plugin-interface/hardware-api/). 
+In the controller plugin source code, you can decide what to return, but it must be available in [Hardware API](../01-hardware-api/index.md).
 
 ## Example controller plugin 
 

versioned_docs/version-1.5.0/45-plugin-interface/03-trackers/03-trackers.md

@@ -7,7 +7,7 @@ description: API for the tracker plugins
 # The Tracker plugin interface
 
 
-The Tracker plugin receives the high-level references from a Mission \& navigation software and provides the UAV state reference to the [Feedback controller](https://ctu-mrs.github.io/docs/features/controllers/) that ensure the UAV follows the reference.
+The Tracker plugin receives the high-level references from a Mission \& navigation software and provides the UAV state reference to the [Feedback controller](../../50-features/10-controllers/index.md) that ensure the UAV follows the reference.
 In general, the high-level referene received from the Mission \& navigation software can be
 
 * a single position and heading reference,
@@ -35,8 +35,7 @@ The tracker plugin can output the combination following references:
   * Throttle 
   * Full state prediction 
 
-In the tracker plugin source code, you can decide which references should be considered by the [Feedback controller](https://ctu-mrs.github.io/docs/features/controllers/).
-If you develop your own [controller plugin](https://ctu-mrs.github.io/docs/plugin-interface/controllers/), ensure that your controller supports the required tracker references.
+In the tracker plugin source code, you can decide which references should be considered by the [Feedback controller](../../50-features/10-controllers/index.md). If you develop your own [controller plugin](../02-controllers/02-controllers.md), ensure that your controller supports the required tracker references.
 
 ## Example tracker plugin