Skip to content

Commit

Permalink
Let sphinx add parameter description to documentation (backport ros-c…
Browse files Browse the repository at this point in the history
  • Loading branch information
mergify[bot] authored Jun 12, 2023
1 parent cb7c455 commit e7625ce
Show file tree
Hide file tree
Showing 9 changed files with 48 additions and 13 deletions.
4 changes: 3 additions & 1 deletion ackermann_steering_controller/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
Parameters
,,,,,,,,,,,

For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

For an exemplary parameterization see the ``test`` folder of the controller's package.

.. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml
4 changes: 3 additions & 1 deletion bicycle_steering_controller/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
Parameters
,,,,,,,,,,,

For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

For an exemplary parameterization see the ``test`` folder of the controller's package.

.. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml
1 change: 1 addition & 0 deletions doc/controllers_index.rst
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ Available Controllers
Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
Effort Controllers <../effort_controllers/doc/userdoc.rst>
Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
Gripper Controller <../gripper_controllers/doc/userdoc.rst>
Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
Position Controllers <../position_controllers/doc/userdoc.rst>
Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
Expand Down
17 changes: 16 additions & 1 deletion forward_command_controller/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -14,4 +14,19 @@ This is a base class implementing a feedforward controller. Specific implementat
Hardware interface type
-----------------------

These controllers work with joints using the "effort" command interface.
This controller can be used for every type of command interface.

Parameters
------------

This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

forward_command_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^

.. generate_parameter_library_details:: ../src/forward_command_controller_parameters.yaml

multi_interface_forward_command_controller
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. generate_parameter_library_details:: ../src/multi_interface_forward_command_controller_parameters.yaml
14 changes: 14 additions & 0 deletions gripper_controllers/doc/userdoc.rst
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gripper_controllers/doc/userdoc.rst

.. _gripper_controllers_userdoc:

Gripper Action Controller
--------------------------------

Controller for executing a gripper command action for simple single-dof grippers.

Parameters
^^^^^^^^^^^
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

.. generate_parameter_library_details:: ../src/gripper_action_controller_parameters.yaml
8 changes: 2 additions & 6 deletions imu_sensor_broadcaster/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,6 @@ The controller is a wrapper around ``IMUSensor`` semantic component (see ``contr

Parameters
^^^^^^^^^^^
frame_id (mandatory)
Frame in which the output message will be published.
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

sensor_name (mandatory)
Defines sensor name used as prefix for its interfaces.
Interface names are: <sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ...,
<sensor_name>/linear_acceleration.x.
.. generate_parameter_library_details:: ../src/imu_sensor_broadcaster_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@ imu_sensor_broadcaster:
sensor_name: {
type: string,
default_value: "",
description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
description: "Defines sensor name used as prefix for its interfaces.
Interface names are: ``<sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ...,
<sensor_name>/linear_acceleration.x.``",
}
frame_id: {
type: string,
Expand Down
5 changes: 3 additions & 2 deletions steering_controllers_library/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,8 @@ Publishers

Parameters
,,,,,,,,,,,

For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

For an exemplary parameterization see the ``test`` folder of the controller's package.

.. generate_parameter_library_details:: ../src/steering_controllers_library.yaml
4 changes: 3 additions & 1 deletion tricycle_steering_controller/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@ For more details on controller's execution and interfaces check the :ref:`Steeri
Parameters
,,,,,,,,,,,

For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

For an exemplary parameterization see the ``test`` folder of the controller's package.

.. generate_parameter_library_details:: ../src/tricycle_steering_controller.yaml

0 comments on commit e7625ce

Please sign in to comment.