diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst
index 2fdb882e..06fbe33d 100644
--- a/example_1/doc/userdoc.rst
+++ b/example_1/doc/userdoc.rst
@@ -453,6 +453,6 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-  * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-  * ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
-  * ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_trajectory_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__
+  * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+  * ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
+  * ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_trajectory_controller>`__): :ref:`doc <joint_trajectory_controller_userdoc>`
diff --git a/example_10/doc/userdoc.rst b/example_10/doc/userdoc.rst
index 7cb30932..4ab38dd7 100644
--- a/example_10/doc/userdoc.rst
+++ b/example_10/doc/userdoc.rst
@@ -211,5 +211,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_11/doc/userdoc.rst b/example_11/doc/userdoc.rst
index 1d40c0ca..41ce1723 100644
--- a/example_11/doc/userdoc.rst
+++ b/example_11/doc/userdoc.rst
@@ -132,5 +132,5 @@ Files used for this demos
 Controllers from this demo
 --------------------------
 
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Bicycle Steering Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/bicycle_steering_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Bicycle Steering Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/bicycle_steering_controller>`__): :ref:`doc <bicycle_steering_controller_userdoc>`
diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst
index 77db80a4..75abec7d 100644
--- a/example_12/doc/userdoc.rst
+++ b/example_12/doc/userdoc.rst
@@ -178,5 +178,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_14/doc/userdoc.rst b/example_14/doc/userdoc.rst
index d51fa8f3..1ebfd57f 100644
--- a/example_14/doc/userdoc.rst
+++ b/example_14/doc/userdoc.rst
@@ -159,5 +159,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
index 504172a9..f5ee8b4c 100644
--- a/example_2/doc/userdoc.rst
+++ b/example_2/doc/userdoc.rst
@@ -188,5 +188,5 @@ Files used for this demos
 Controllers from this demo
 --------------------------
 
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Diff Drive Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/diff_drive_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Diff Drive Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/diff_drive_controller>`__): :ref:`doc <diff_drive_controller_userdoc>`
diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst
index 249b1c5a..dbdbdf90 100644
--- a/example_3/doc/userdoc.rst
+++ b/example_3/doc/userdoc.rst
@@ -202,5 +202,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst
index 5f289bec..efe61c05 100644
--- a/example_4/doc/userdoc.rst
+++ b/example_4/doc/userdoc.rst
@@ -172,6 +172,6 @@ Files used for this demo
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
-* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
+* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster>`__): :ref:`doc <force_torque_sensor_broadcaster_userdoc>`
diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst
index f308c8ad..69f7f9f6 100644
--- a/example_5/doc/userdoc.rst
+++ b/example_5/doc/userdoc.rst
@@ -181,6 +181,6 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
-* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
+* ``Force Torque Sensor Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster>`__): :ref:`doc <force_torque_sensor_broadcaster_userdoc>`
diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst
index da083f97..357cb18c 100644
--- a/example_6/doc/userdoc.rst
+++ b/example_6/doc/userdoc.rst
@@ -143,5 +143,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst
index 553c2c54..13dbb040 100644
--- a/example_8/doc/userdoc.rst
+++ b/example_8/doc/userdoc.rst
@@ -117,5 +117,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+* ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+* ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`
diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst
index 3e612d1e..e07a9471 100644
--- a/example_9/doc/userdoc.rst
+++ b/example_9/doc/userdoc.rst
@@ -153,5 +153,5 @@ Files used for this demos
 
 Controllers from this demo
 --------------------------
-- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
-- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+- ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): :ref:`doc <joint_state_broadcaster_userdoc>`
+- ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/forward_command_controller>`__): :ref:`doc <forward_command_controller_userdoc>`