So in the python pub/sub tutorial for example, we can link right to rclpy/topics and the reader will see exactly what they need to see and nothing extra. Whereas if I wanted to do the same for the c++ pub/sub tutorial, I have to link to just rclcpp and the reader is bombarded by all these other packages they don't need to see. That's my reasoning, but again, it's not super important.

Looking at this, I actually agree with your reasoning. Putting in the subdirectories gives it a bit of extra clarity that I like.

Also I wasn't sure if minimal_composition, minimal_timer and multithreaded_executor could all be placed in one folder or what that folder would be called.

No, they all deal with different aspects of what rclcpp can do. Going with this new structure, I think the directory structure should be something like this:

- rclcpp
    - actions
        - minimal_action_client
        - minimal_action_server
    - composition
        - minimal_composition
    - executors
        - multithreaded_executor
    - services
        - minimal_client
        - minimal_service
    - timers
        - minimal_timer
    - topics
        - minimal_publisher
        - minimal_subscriber

Separately we should add a "timer" tutorial to the rclpy stuff, but that is follow-up work.

@maryaB-osr Does that make sense to you?

@clalancette Yup that makes sense to me. "Time", "executors/spinners" and "composition" are all on the list for new tutorials :)

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