diff --git a/configuration/packages/costmap-plugins/obstacle.rst b/configuration/packages/costmap-plugins/obstacle.rst
index fdcaad3db..f5c600ad3 100644
--- a/configuration/packages/costmap-plugins/obstacle.rst
+++ b/configuration/packages/costmap-plugins/obstacle.rst
@@ -9,7 +9,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
 
 ``<data source>`` is the corresponding observation source name for that sources parameters.
 
-:``<obstacle layer>``.enabled:
+:<obstacle layer>.enabled:
 
   ==== =======
   Type Default
@@ -20,7 +20,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Whether it is enabled.
 
-:``<obstacle layer>``.footprint_clearing_enabled:
+:<obstacle layer>.footprint_clearing_enabled:
 
   ==== =======
   Type Default
@@ -31,7 +31,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Clear any occupied cells under robot footprint.
 
-:``<obstacle layer>``.min_obstacle_height:
+:<obstacle layer>.min_obstacle_height:
 
   ====== =======
   Type   Default
@@ -42,7 +42,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Minimum height to add return to occupancy grid.
 
-:``<obstacle layer>``.max_obstacle_height:
+:<obstacle layer>.max_obstacle_height:
 
   ====== =======
   Type   Default
@@ -53,7 +53,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Maximum height to add return to occupancy grid.
 
-:``<obstacle layer>``.combination_method:
+:<obstacle layer>.combination_method:
 
   ====== =======
   Type   Default
@@ -74,7 +74,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   | It can be used to make sure that the static map is the dominant source of information, and
   | prevent the robot to go through places that are not present in the static map.
 
-:``<obstacle layer>``.tf_filter_tolerance:
+:<obstacle layer>.tf_filter_tolerance:
 
   ====== =======
   Type   Default
@@ -85,7 +85,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Tolerance for the ``tf2_ros::MessageFilter``.
 
-:``<obstacle layer>``.observation_sources:
+:<obstacle layer>.observation_sources:
 
   ============== =======
   Type           Default
@@ -96,7 +96,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     namespace of sources of data.
 
-:``<obstacle layer>.<data source>``.topic:
+:<obstacle layer>.<data source>.topic:
 
   ====== =======
   Type   Default
@@ -115,7 +115,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   * Topic will be remapped to `/tb4/scan` without `local_costmap`.
   * Use global topic `/scan` if you do not wish the node namespace to apply.
 
-:``<obstacle layer>.<data source>``.sensor_frame:
+:<obstacle layer>.<data source>.sensor_frame:
 
   ====== =======
   Type   Default
@@ -126,7 +126,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Frame of sensor, to use if not provided by message. If empty, uses message frame_id.
 
-:``<obstacle layer>.<data source>``.observation_persistence:
+:<obstacle layer>.<data source>.observation_persistence:
 
   ====== =======
   Type   Default
@@ -137,7 +137,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     How long to store messages in a buffer to add to costmap before removing them (s).
 
-:``<obstacle layer>.<data source>``.expected_update_rate:
+:<obstacle layer>.<data source>.expected_update_rate:
 
   ====== =======
   Type   Default
@@ -148,7 +148,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Expected rate to get new data from sensor.
 
-:``<obstacle layer>.<data source>``.data_type:
+:<obstacle layer>.<data source>.data_type:
 
   ====== ===========
   Type   Default
@@ -159,7 +159,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Data type of input, LaserScan or PointCloud2.
 
-:``<obstacle layer>.<data source>``.transport_type:
+:<obstacle layer>.<data source>.transport_type:
 
   ====== ===========
   Type   Default
@@ -177,7 +177,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
 
   See the `known transports <https://github.com/ros-perception/point_cloud_transport_plugins>`_ for more details.
 
-:``<obstacle layer>.<data source>``.min_obstacle_height:
+:<obstacle layer>.<data source>.min_obstacle_height:
 
   ====== =======
   Type   Default
@@ -188,7 +188,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Minimum height to add return to occupancy grid.
 
-:``<obstacle layer>.<data source>``.max_obstacle_height:
+:<obstacle layer>.<data source>.max_obstacle_height:
 
   ====== =======
   Type   Default
@@ -199,7 +199,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Maximum height to add return to occupancy grid.
 
-:``<obstacle layer>.<data source>``.inf_is_valid:
+:<obstacle layer>.<data source>.inf_is_valid:
 
   ====== =======
   Type   Default
@@ -210,7 +210,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Are infinite returns from laser scanners valid measurements to raycast.
 
-:``<obstacle layer>.<data source>``.marking:
+:<obstacle layer>.<data source>.marking:
 
   ====== =======
   Type   Default
@@ -221,7 +221,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Whether source should mark in costmap.
 
-:``<obstacle layer>.<data source>``.clearing:
+:<obstacle layer>.<data source>.clearing:
 
   ====== =======
   Type   Default
@@ -232,7 +232,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Whether source should raytrace clear in costmap.
 
-:``<obstacle layer>.<data source>``.obstacle_max_range:
+:<obstacle layer>.<data source>.obstacle_max_range:
 
   ====== =======
   Type   Default
@@ -243,7 +243,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Maximum range to mark obstacles in costmap.
 
-:``<obstacle layer>.<data source>``.obstacle_min_range:
+:<obstacle layer>.<data source>.obstacle_min_range:
 
   ====== =======
   Type   Default
@@ -254,7 +254,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Minimum range to mark obstacles in costmap.
 
-:``<obstacle layer>.<data source>``.raytrace_max_range:
+:<obstacle layer>.<data source>.raytrace_max_range:
 
   ====== =======
   Type   Default
@@ -265,7 +265,7 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Maximum range to raytrace clear obstacles from costmap.
 
-:``<obstacle layer>.<data source>``.raytrace_min_range:
+:<obstacle layer>.<data source>.raytrace_min_range:
 
   ====== =======
   Type   Default