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Fix REP url locations #2004

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Fix REP url locations #2004

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6 changes: 3 additions & 3 deletions doc/mobile_robot_kinematics.rst
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Expand Up @@ -27,7 +27,7 @@ Omnidirectional Drive Robots using Omni Wheels
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The below explains the kinematics of omnidirectional drive robots using 3 or more omni wheels.
It follows the coordinate conventions defined in `ROS REP 103 <https://www.ros.org/reps/rep-0103.html>`__.
It follows the coordinate conventions defined in `ROS REP 103 <https://reps.openrobotics.org/rep-0103/>`__.

.. image:: images/omni_wheel_omnidirectional_drive.svg
:width: 550
Expand Down Expand Up @@ -114,7 +114,7 @@ The body twist of the robot can be obtained from the wheel velocities by using t
Swerve Drive Robots
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The below explains the kinematics of omnidirectional drive robots using four swerve modules, each with independently controlled steering and driving motors. It follows the coordinate conventions defined in `REP-103 <https://www.ros.org/reps/rep-0103.html>`__.
The below explains the kinematics of omnidirectional drive robots using four swerve modules, each with independently controlled steering and driving motors. It follows the coordinate conventions defined in `REP-103 <https://reps.openrobotics.org/rep-0103/>`__.

.. image:: images/swerve_drive.svg
:align: center
Expand Down Expand Up @@ -200,7 +200,7 @@ Nonholonomic Wheeled Mobile Robots
Unicycle model
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To define the coordinate systems (`ROS coordinate frame conventions <https://www.ros.org/reps/rep-0103.html#id19>`__, the coordinate systems follow the right-hand rule), consider the following simple unicycle model
To define the coordinate systems (`ROS coordinate frame conventions <https://reps.openrobotics.org/rep-0103/#id19>`__, the coordinate systems follow the right-hand rule), consider the following simple unicycle model

.. image:: images/unicycle.svg
:width: 550
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