Put versioned links in api pages

Author: filipopo

docs/40-api/21-transformations.md

@@ -12,7 +12,7 @@ This page is describing the upcoming ROS2 version of the MRS UAV System (however
 
 ![](fig/transformations.png)
 
-As a robotic system, the MRS system makes use of many coordinate [reference frames](/docs/api/frames_of_reference).
+As a robotic system, the MRS system makes use of many coordinate [reference frames](./20-frames_of_reference.md).
 Transformations within the MRS system are maintained by the [tf2 ros package](http://wiki.ros.org/tf2) and [Transformer](https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Transformer.html) from the [mrs_lib package](https://ctu-mrs.github.io/mrs_lib/), which is a tf2 wrapper with several functions simplifying the work with transformations.
 The transformations within the MRS system are important not only for tracking the relationship among particular coordinate frames, but they are used also to enable sending commands in various reference frames independently on current control frame.
 

docs/40-api/22-custom_real_world_file.md

@@ -10,7 +10,7 @@ This page is describing the upcoming ROS2 version of the MRS UAV System (however
 
 # Frames of Reference
 
-As described in the [Frames of Reference](/docs/api/frames_of_reference) manual, the MRS system offers a flexible way to define the coordinate frames used in the system. This is enabled using geographical libraries in the real-world that map from latitude-longitude coordinates to the local Cartesian coordinate system. The MRS system uses the [GeographicLib](https://geographiclib.sourceforge.io/) library to handle these transformations.
+As described in the [Frames of Reference](./20-frames_of_reference.md) manual, the MRS system offers a flexible way to define the coordinate frames used in the system. This is enabled using geographical libraries in the real-world that map from latitude-longitude coordinates to the local Cartesian coordinate system. The MRS system uses the [GeographicLib](https://geographiclib.sourceforge.io/) library to handle these transformations.
 
 # Custom Real World File
 

docs/40-api/30-trajectories.md

@@ -15,7 +15,7 @@ This page is describing the upcoming ROS2 version of the MRS UAV System (however
 - An ordered sequence of geometric poses without any notion of time.
 - Specifies what poses should the UAV fly through: no control over dynamics.
 - Has to be sampled first by sampling period `T`.
-- See [below](https://ctu-mrs.github.io/docs/system/trajectories.html#generating-trajectories-from-paths) on how to generate dynamically feasible trajectories from paths.
+- See [below](#generating-trajectories-from-paths) on how to generate dynamically feasible trajectories from paths.
 
 **Trajectory** ([mrs_msgs/TrajectoryReference.msg](https://ctu-mrs.github.io/mrs_msgs/interfaces/msg/TrajectoryReference.html))
 
@@ -36,13 +36,13 @@ It expects trajectory sampled with period of T = 0.2 s (can be modified in the m
 0.2,0.2,1.2,0.1
 0.3,0.1,1.4,0.15
 ```
-The trajectory loaded with `mrs-ctu/trajectory_loader` will be input to the current [reference tracker](https://ctu-mrs.github.io/docs/software/uav_core/mrs_uav_trackers/), which will generate all-state and feasible reference for the [controller](https://ctu-mrs.github.io/docs/software/uav_core/mrs_uav_controllers/).
+The trajectory loaded with `mrs-ctu/trajectory_loader` will be input to the current [reference tracker](../50-features/20-trackers/index.md), which will generate all-state and feasible reference for the [controller](../50-features/10-controllers/index.md).
 
 ## Generating trajectories from paths
 
-You can generate your own trajectories and publish them to `control_manager/trajectory_reference` to fly them (see [UAV-ROS interface](https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#selected-services-for-program-to-machine-interaction)).
+You can generate your own trajectories and publish them to `control_manager/trajectory_reference` to fly them (see [UAV-ROS interface](./01-uav_ros_api.md#selected-services-for-program-to-machine-interaction)).
 This pipeline follows the same scheme `trajectory->tracker->controller` as if the trajectory was loaded with `mrs-ctu/trajectory_loader`.
 If a trajectory is **not feasible under dynamic constraints for the UAV, the resulting trajectory may be degraded**.
 
-To convert a desired waypoint path to a **trajectory feasible under dynamic constraints of the UAV**, you can use the [`mrs_uav_trajectory_generation`](https://github.com/ctu-mrs/mrs_uav_trajectory_generation) package.
-See the package documentation for more information about generating trajectories under dynamic constraints and [list of topics/services](https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#trajectory-generation) for using the `mrs_uav_trajectory_generation` package.
+To convert a desired waypoint path to a **trajectory feasible under dynamic constraints of the UAV**, you can use the [`mrs_uav_trajectory_generation`](../50-features/30-trajectory_generation/index.md) package.
+See the package documentation for more information about generating trajectories under dynamic constraints and [list of topics/services](./01-uav_ros_api.md#trajectory-generation) for using the `mrs_uav_trajectory_generation` package.

versioned_docs/version-1.5.0/40-api/20-frames_of_reference.md

@@ -25,7 +25,7 @@ Coordinate systems for mobile robots follow hierarchical convention (check coord
 ```bash
 world -> map -> odometry -> fcu -> sensors
 ```
-The [transformations](/docs/api/transformations) (`->`) among coordination frames are maintained by [tf2 ROS library](http://wiki.ros.org/tf2).
+The [transformations](./21-transformations.md) (`->`) among coordination frames are maintained by [tf2 ROS library](http://wiki.ros.org/tf2).
 The `tf2` library requires the mutual transformations to be stored in a **tree structure**, where each node has a single *parent* and there exists only a single **root** node with no *parent*.
 
 But, maintaining the **tree structure** is impossible for multiple *world*/*map*/*odometry* coordinate frames.

versioned_docs/version-1.5.0/40-api/21-transformations.md

@@ -8,7 +8,7 @@ description: Handling transformations within the MRS
 
 ![](fig/transformations.png)
 
-As a robotic system, the MRS system makes use of many coordinate [reference frames](/docs/api/frames_of_reference).
+As a robotic system, the MRS system makes use of many coordinate [reference frames](./20-frames_of_reference.md).
 Transformations within the MRS system are maintained by the [tf2 ros package](http://wiki.ros.org/tf2) and [Transformer](https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Transformer.html) from the [mrs_lib package](https://ctu-mrs.github.io/mrs_lib/), which is a tf2 wrapper with several functions simplifying the work with transformations.
 The transformations within the MRS system are important not only for tracking the relationship among particular coordinate frames, but they are used also to enable sending commands in various reference frames independently on current control frame.
 

versioned_docs/version-1.5.0/40-api/22-custom_real_world_file.md

@@ -6,7 +6,7 @@ description: How to create a custom real world file for the MRS system to fly in
 
 # Frames of Reference
 
-As described in the [Frames of Reference](/docs/api/frames_of_reference) manual, the MRS system offers a flexible way to define the coordinate frames used in the system. This is enabled using geographical libraries in the real-world that map from latitude-longitude coordinates to the local Cartesian coordinate system. The MRS system uses the [GeographicLib](https://geographiclib.sourceforge.io/) library to handle these transformations.
+As described in the [Frames of Reference](./20-frames_of_reference.md) manual, the MRS system offers a flexible way to define the coordinate frames used in the system. This is enabled using geographical libraries in the real-world that map from latitude-longitude coordinates to the local Cartesian coordinate system. The MRS system uses the [GeographicLib](https://geographiclib.sourceforge.io/) library to handle these transformations.
 
 # Custom Real World File
 

versioned_docs/version-1.5.0/40-api/30-trajectories.md

@@ -11,7 +11,7 @@ description: Supplying trajectory input
 - An ordered sequence of geometric poses without any notion of time.
 - Specifies what poses should the UAV fly through: no control over dynamics.
 - Has to be sampled first by sampling period `T`.
-- See [below](https://ctu-mrs.github.io/docs/system/trajectories.html#generating-trajectories-from-paths) on how to generate dynamically feasible trajectories from paths.
+- See [below](#generating-trajectories-from-paths) on how to generate dynamically feasible trajectories from paths.
 
 **Trajectory** ([mrs_msgs/TrajectoryReference.msg](https://ctu-mrs.github.io/mrs_msgs/msg/TrajectoryReference.html))
 
@@ -32,13 +32,13 @@ It expects trajectory sampled with period of T = 0.2 s (can be modified in the m
 0.2,0.2,1.2,0.1
 0.3,0.1,1.4,0.15
 ```
-The trajectory loaded with `mrs-ctu/trajectory_loader` will be input to the current [reference tracker](https://ctu-mrs.github.io/docs/software/uav_core/mrs_uav_trackers/), which will generate all-state and feasible reference for the [controller](https://ctu-mrs.github.io/docs/software/uav_core/mrs_uav_controllers/).
+The trajectory loaded with `mrs-ctu/trajectory_loader` will be input to the current [reference tracker](../50-features/20-trackers/index.md), which will generate all-state and feasible reference for the [controller](../50-features/10-controllers/index.md).
 
 ## Generating trajectories from paths
 
-You can generate your own trajectories and publish them to `control_manager/trajectory_reference` to fly them (see [UAV-ROS interface](https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#selected-services-for-program-to-machine-interaction)).
+You can generate your own trajectories and publish them to `control_manager/trajectory_reference` to fly them (see [UAV-ROS interface](./01-uav_ros_api.md#selected-services-for-program-to-machine-interaction)).
 This pipeline follows the same scheme `trajectory->tracker->controller` as if the trajectory was loaded with `mrs-ctu/trajectory_loader`.
 If a trajectory is **not feasible under dynamic constraints for the UAV, the resulting trajectory may be degraded**.
 
-To convert a desired waypoint path to a **trajectory feasible under dynamic constraints of the UAV**, you can use the [`mrs_uav_trajectory_generation`](https://github.com/ctu-mrs/mrs_uav_trajectory_generation) package.
-See the package documentation for more information about generating trajectories under dynamic constraints and [list of topics/services](https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#trajectory-generation) for using the `mrs_uav_trajectory_generation` package.
+To convert a desired waypoint path to a **trajectory feasible under dynamic constraints of the UAV**, you can use the [`mrs_uav_trajectory_generation`](../50-features/30-trajectory_generation/index.md) package.
+See the package documentation for more information about generating trajectories under dynamic constraints and [list of topics/services](./01-uav_ros_api.md#trajectory-generation) for using the `mrs_uav_trajectory_generation` package.