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Merge pull request #55 from xEnVrE/fix/docs
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Fix docstring for frameTransformSet_nwc_ros2
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@randaz81
randaz81 authored Aug 21, 2023
2 parents a93020e + 0e10e13 commit bac5975
Showing 1 changed file with 12 additions and 11 deletions.
23 changes: 12 additions & 11 deletions src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h
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/**
* @ingroup dev_impl_nwc_ros2
*
* @brief `frameTransformSet_nwc_ros2`: A ros network wrapper client that receives frame transforms from a ros2 topic and makes them available through an IFrameTransformStorageGet interface. See \subpage FrameTransform for additional info.
*
* @brief `frameTransformSet_nwc_ros2`: A ros network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ros2 topic. See \subpage FrameTransform for additional info.
* \section FrameTransformSet_nwc_ros2_device_parameters Parameters
*
* Parameters required by this device are:
* | Parameter name | SubParameter | Type | Units | Default Value | Required | Description ------- |
* |:--------------:|:--------------------:|:-------:|:--------------:|:---------------------:|:-----------: |:-----------------------------------------------------------------:|
* | GENERAL | - | group | - | - | No | |
* | - | refresh_interval | double | seconds | 0.1 | No | The time interval outside which timed ft will be deleted |
* | ROS2 | - | group | - | - | No | |
* | - | ft_node | string | - | /tfNodeGet | No | The name of the ROS2 node |
* | - | ft_topic | string | - | /tf | No | The name of the ROS2 topic from which fts will be received |
* | - | ft_topic_static | string | - | /tf_static | No | The name of the ROS2 topic from which static fts will be received |
* | Parameter name | SubParameter | Type | Units | Default Value | Required | Description |
* |:--------------:|:--------------------:|:-------:|:--------------:|:---------------------:|:-----------: |:-----------------------------------------------------------------------------------------------------:|
* | GENERAL | - | group | - | - | No | |
* | - | period | double | seconds | 0.01 | No | The PeriodicThread period in seconds |
* | - | refresh_interval | double | seconds | 0.1 | No | The time interval outside which timed ft will be deleted |
* | - | asynch_pub | int | - | 1 | No | If 1, the fts will be published not only every "period" seconds but also when set functions are called|
* | ROS2 | - | group | - | - | No | |
* | - | ft_node | string | - | /tfNodeGet | No | The name of the ROS2 node |
* | - | ft_topic | string | - | /tf | No | The name of the ROS2 topic on which fts will be published |
* | - | ft_topic_static | string | - | /tf_static | No | The name of the ROS2 topic on which static fts will be published |
* **N.B.** pay attention to the difference between **tf** and **ft**
*
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* [GENERAL]
* period 0.05
* refresh_interval 0.2
* [ROS]
* [ROS2]
* ft_topic /tf
* ft_topic_static /tf_static
* ft_node /tfNodeGet
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