diff --git a/moveit2/README.md b/moveit2/README.md
index 88fd5b0..9162732 100644
--- a/moveit2/README.md
+++ b/moveit2/README.md
@@ -7,8 +7,8 @@ The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to b
 
 To build the docker image, run:
 
-```
-$ ./build.sh
+```bash
+./build.sh
 ```
 
 The build process will take about 30 minutes, depending on the host computer.
@@ -17,8 +17,8 @@ The build process will take about 30 minutes, depending on the host computer.
 
 After building the image, you can see the newly-built image by running:
 
-```
-$ docker image list
+```bash
+docker image list
 ```
 
 The output will look something like this:
@@ -34,8 +34,8 @@ The new image is named **openrobotics/moveit2:latest**.
 
 There is a run.sh script provided for convenience that will run the spaceros image in a container.
 
-```
-$ ./run.sh
+```bash
+./run.sh
 ```
 
 Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. 
@@ -49,7 +49,7 @@ spaceros-user@8e73b41a4e16:~/moveit2#
 
 Run the following command to launch the MoveIt2 tutorials demo launch file:
 
-```
+```bash
 ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
 ```
 
@@ -63,7 +63,7 @@ You can now follow the [MoveIt2 Tutorial documentation](https://moveit.picknik.a
 
 To run the Move Group C++ Interface Demo, execute the following command:
 
-```
+```bash
 ros2 launch moveit2_tutorials move_group.launch.py
 ```
 
diff --git a/renode_rcc/README.md b/renode_rcc/README.md
index 99e46ca..27c2c18 100644
--- a/renode_rcc/README.md
+++ b/renode_rcc/README.md
@@ -3,15 +3,15 @@ Building [RTEMS Cross Compilation System (RCC)](https://www.gaisler.com/index.ph
 
 ## Usage
 To run the simulator in docker container
-```
-$ renode
+```bash
+renode
 ```
 
 > If you face GTK protocol error then exit the container, run `xhost + local:` and restart the conatiner to allow other users (including root) run programs in the current session.
 
 
 In the renode window, run
-```
+```bash
 start
 s @renode-rtems-leon3/leon3_rtems.resc
 ```
diff --git a/rtems/README.md b/rtems/README.md
index 4eba0f4..94c4215 100644
--- a/rtems/README.md
+++ b/rtems/README.md
@@ -10,16 +10,16 @@ example is an hello world example build using `sparc-rtems5-gcc` tool.
 tinyxml2 is modified to work with RTEMS build using `sparc-rtems5-gcc` tool..
 
 ## Compile
-```
-$ cd /root/tinxyxml2
-$ ./doit
+```bash
+cd /root/tinxyxml2
+./doit
 ```
 
 ## Save build artefacts
 After compiling the binaries for the target, save the binaries and test payload for later use in renode.
 
-```
-$ docker cp containerId:/root/tinyxml2/tinyxml2.o <path to spaceros_ws>/docker/renode_rcc/build/
+```bash
+docker cp containerId:/root/tinyxml2/tinyxml2.o <path to spaceros_ws>/docker/renode_rcc/build/
 
-$ docker cp containerId:/root/tinyxml2/xmltest.exe <path to spaceros_ws>/docker/renode_rcc/build/
+docker cp containerId:/root/tinyxml2/xmltest.exe <path to spaceros_ws>/docker/renode_rcc/build/
 ```
diff --git a/space_robots/README.md b/space_robots/README.md
index 353d74e..7e7b1f0 100644
--- a/space_robots/README.md
+++ b/space_robots/README.md
@@ -11,25 +11,25 @@ This is for Curiosity Mars rover and Canadarm demos.
 The demo image builds on top of the `spaceros` and `moveit2` images. 
 To build the docker image, first build both required images, then the `space_robots` demo image:
 
-```
-$ cd docker/spaceros
-$ ./build.sh
-$ cd ../moveit2
-$ ./build.sh
-$ cd ../space_robots
-$ ./build.sh
+```bash
+cd docker/spaceros
+./build.sh
+cd ../moveit2
+./build.sh
+cd ../space_robots
+./build.sh
 ```
 
 ## Running the Demo Docker
 
 run the following to allow GUI passthrough:
-```
-$ xhost +local:docker
+```bash
+xhost +local:docker
 ```
 
 Then run:
-```
-$ ./run.sh
+```bash
+./run.sh
 ```
 
 Depending on the host computer, you might need to remove the ```--gpus all``` flag in ```run.sh```, which uses your GPUs.
@@ -38,8 +38,8 @@ Depending on the host computer, you might need to remove the ```--gpus all``` fl
 
 ### Curiosity Mars rover demo
 Launch the demo:
-```
-$ ros2 launch mars_rover mars_rover.launch.py
+```bash
+ros2 launch mars_rover mars_rover.launch.py
 ```
 
 On the top left corner, click on the refresh button to show camera feed.
@@ -48,72 +48,72 @@ On the top left corner, click on the refresh button to show camera feed.
 
 Open a new terminal and attach to the currently running container:
 
-```
-$ docker exec -it <container-name> bash
+```bash
+docker exec -it <container-name> bash
 ```
 
 Make sure packages are sourced:
 
-```
-$ source ~/spaceros/install/setup.bash
+```bash
+source ~/spaceros/install/setup.bash
 ```
 
-```
-$ source ~/demos_ws/install/setup.bash
+```bash
+source ~/demos_ws/install/setup.bash
 ```
 
 #### Available Commands
 
 Drive the rover forward
 
-```
-$ ros2 service call /move_forward std_srvs/srv/Empty
+```bash
+ros2 service call /move_forward std_srvs/srv/Empty
 ```
 
 Stop the rover
 
-```
-$ ros2 service call /move_stop std_srvs/srv/Empty
+```bash
+ros2 service call /move_stop std_srvs/srv/Empty
 ```
 
 Turn left
 
-```
-$ ros2 service call /turn_left std_srvs/srv/Empty
+```bash
+ros2 service call /turn_left std_srvs/srv/Empty
 ```
 
 Turn right
 
-```
-$ ros2 service call /turn_right std_srvs/srv/Empty
+```bash
+ros2 service call /turn_right std_srvs/srv/Empty
 ```
 
 Open the tool arm:
 
-```
-$ ros2 service call /open_arm std_srvs/srv/Empty
+```bash
+ros2 service call /open_arm std_srvs/srv/Empty
 ```
 
 Close the tool arm:
 
-```
-$ ros2 service call /close_arm std_srvs/srv/Empty
+```bash
+ros2 service call /close_arm std_srvs/srv/Empty
 ```
 
 Open the mast (camera arm)
 
-```
-$ ros2 service call /mast_open std_srvs/srv/Empty
+```bash
+ros2 service call /mast_open std_srvs/srv/Empty
 ```
 
 Close the mast (camera arm)
 
-```
-$ ros2 service call /mast_close std_srvs/srv/Empty
+```bash
+ros2 service call /mast_close std_srvs/srv/Empty
 ```
 
 ### Canadarm demo
 
-```
-$ ros2 launch canadarm canadarm.launch.py
+```bash
+ros2 launch canadarm canadarm.launch.py
 ```
diff --git a/spaceros/README.md b/spaceros/README.md
index 9998475..83b4f26 100644
--- a/spaceros/README.md
+++ b/spaceros/README.md
@@ -9,8 +9,8 @@ The [Earthly](https://earthly.dev/get-earthly) utility is required to build this
 
 To build the image, run:
 
-```
-$ ./build.sh
+```bash
+./build.sh
 ```
 
 The build process will take about 20 or 30 minutes, depending on the host computer.
@@ -19,8 +19,8 @@ The build process will take about 20 or 30 minutes, depending on the host comput
 
 After building the image, you can see the newly-built image by running:
 
-```
-$ docker image list
+```bash
+docker image list
 ```
 
 The output will look something like this:
@@ -37,8 +37,8 @@ The new image is named **osrf/space-ros:latest**.
 The `rocker` library is required to run the built image, install it by `sudo apt-get install python3-rocker`.
 There is a run.sh script provided for convenience that will run the spaceros image in a container.
 
-```
-$ ./run.sh
+```bash
+./run.sh
 ```
 
 Upon startup, the container automatically runs the entrypoint.sh script, which sources the Space ROS environment file (setup.bash). 
@@ -164,8 +164,8 @@ Sometimes it may be convenient to attach additional terminals to a running Docke
 
 With the Space ROS Docker container running, open a second host terminal and then run the following command to determine the container ID:
 
-```
-$ docker container list
+```bash
+docker container list
 ```
 
 The output will look something like this:
@@ -177,7 +177,7 @@ d10d85c68f0e   openrobotics/spaceros   "/entrypoint.sh …"   28 minutes ago   U
 
 The container ID in this case, is *d10d85c68f0e*. So, run the following command in the host terminal:
 
-```
+```bash
 docker exec -it d10d85c68f0e /bin/bash --init-file "install/setup.bash"
 ```
 
diff --git a/zynq_rtems/README.md b/zynq_rtems/README.md
index f3dc5dd..de8f878 100644
--- a/zynq_rtems/README.md
+++ b/zynq_rtems/README.md
@@ -18,7 +18,7 @@ To simplify collecting and compiling dependencies on a wide range of systems, we
 You will need to install Docker on your system first, for example, using `sudo apt install docker.io`
 Then, run this [script](https://github.com/space-ros/docker/blob/main/zynq_rtems/build_dependencies.sh):
 
-```
+```bash
 cd /path/to/zynq_rtems
 ./build_dependencies.sh
 ```
@@ -28,7 +28,7 @@ This will typically take at least 10 minutes, and can take much longer if either
 
 Next, we will use this "container full of dependencies" to compile a sample application.
 
-```
+```bash
 cd /path/to/zynq_rtems
 ./compile_demos.sh
 ```
@@ -41,7 +41,8 @@ The build products will land in `zynq_rtems/hello_zenoh/build`.
 The emulated system that will run inside QEMU needs to have a way to talk to a virtual network segment on the host machine.
 We'll create a TAP device for this.
 The following script will set this up, creating a virtual `10.0.42.x` subnet for a device named `tap0`:
-```
+
+```bash
 ./start_network_tap.sh
 ```
 
@@ -51,7 +52,8 @@ We will need three terminals for this demo:
  * Zenoh-Pico publisher (in RTEMS in QEMU)
 
 First, we will start a Zenoh router:
-```
+
+```bash
 cd /path/to/zynq_rtems
 cd hello_zenoh
 ./run_zenoh_router
@@ -59,7 +61,8 @@ cd hello_zenoh
 This will print a bunch of startup information and then continue running silently, waiting for inbound Zenoh traffic. Leave this terminal running.
 
 In the second terminal, we'll run the Zenoh subscriber example:
-```
+
+```bash
 cd /path/to/zynq_rtems
 cd hello_zenoh
 ./run_zenoh_subscriber
@@ -67,7 +70,8 @@ cd hello_zenoh
 
 In the third terminal, we will run the RTEMS-based application, which will communicate with the Zenoh router and thence to the Zenoh subscriber.
 The following script will run QEMU inside the container, with a volume-mount of the `hello_zenoh` demo application so that the build products from the previous step are made available to the QEMU that was built inside the container.
-```
+
+```bash
 cd /path/to/zynq_rtems
 cd hello_zenoh
 ./run_rtems.sh
@@ -75,6 +79,7 @@ cd hello_zenoh
 
 The terminal should print a bunch of information about the various emulated Zynq network interfaces and their routing information.
 After that, it should contact the `zenohd` instance running in the other terminal. It should print something like this:
+
 ```
 Opening zenoh session...
 Zenoh session opened.
@@ -127,6 +132,7 @@ This is a good thing.
 # Clean up
 
 If you would like, you can now remove the network tap device that we created in the previous step:
-```
+
+```bash
 zynq_rtems/stop_network_tap.sh
 ```