Update README.md (#43)

functional_programming_tests/README.md

@@ -2,7 +2,7 @@
 
 This directory contains examples of tests that do and do not follow functional programming principles. When working with ROS, it is tempting to follow the established paradigm of encapsulating code and associated data in classes that inherit from or are composed of `rclcpp::Node`.
 
-```
+```cpp
 class MinimalPublisher : public rclcpp::Node
 // ... class definition
 int main(int argc, char * argv[])
@@ -14,9 +14,9 @@ int main(int argc, char * argv[])
 }
 ```
 
-This usually leads to the code being dependent on the ROS ecosystem to function, even when it is not needed. In `without_functional_programming.cpp`, there is class method that requires testing, `generate_global_path`.
+This usually leads to the code being dependent on the ROS ecosystem to function, even when it is not needed. In [`without_functional_programming.cpp`](https://github.com/PickNikRobotics/ros_testing_templates/blob/ros2/functional_programming_tests/test/without_functional_programming.cpp), there is class method that requires testing, `generate_global_path`.
 
-```
+```cpp
 class PathGenerator {
 public:
 // ... some code
@@ -27,7 +27,7 @@ public:
 
 To test the method properly, an entire ROS2 pipeline must be spun up.
 
-```
+```cpp
 class TaskPlanningFixture : public testing::Test {
 public:
 	// Adapted from minimal_integration_test
@@ -44,12 +44,12 @@ public:
 		executor_thread_ = std::thread([this]() { executor_->spin(); });
 	}
 
-    // Cleanup actions that could throw an exception
+        // Cleanup actions that could throw an exception
 	void TearDown() override {
 		executor_->cancel();
 		executor_thread_.join();
 	}
 // ... more code
 ```
 
-Writing all this extra code can be time consuming and lead to bugs in testing. In `with_functional_programming.cpp`, the `generate_global_path` method is now a free function, and the `costmap_callback` and `get_costmap` functions aren't needed anymore. This leads to less boilerplate code required to test `generate_global_path`.
+Writing all this extra code can be time consuming and lead to bugs in testing. In [`with_functional_programming.cpp`](https://github.com/PickNikRobotics/ros_testing_templates/blob/ros2/functional_programming_tests/test/with_functional_programming.cpp), the `generate_global_path` method is now a free function, and the `costmap_callback` and `get_costmap` functions aren't needed anymore. This leads to less boilerplate code required to test `generate_global_path`.