From e7625ce339e9ab9c9939c784e6aaf8ae91b9dc9b Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 12 Jun 2023 17:44:36 +0100 Subject: [PATCH] Let sphinx add parameter description to documentation (backport #651) (#663) --- ackermann_steering_controller/doc/userdoc.rst | 4 +++- bicycle_steering_controller/doc/userdoc.rst | 4 +++- doc/controllers_index.rst | 1 + forward_command_controller/doc/userdoc.rst | 17 ++++++++++++++++- gripper_controllers/doc/userdoc.rst | 14 ++++++++++++++ imu_sensor_broadcaster/doc/userdoc.rst | 8 ++------ .../src/imu_sensor_broadcaster_parameters.yaml | 4 +++- steering_controllers_library/doc/userdoc.rst | 5 +++-- tricycle_steering_controller/doc/userdoc.rst | 4 +++- 9 files changed, 48 insertions(+), 13 deletions(-) create mode 100644 gripper_controllers/doc/userdoc.rst diff --git a/ackermann_steering_controller/doc/userdoc.rst b/ackermann_steering_controller/doc/userdoc.rst index c743b5d709..c4ae35e5b0 100644 --- a/ackermann_steering_controller/doc/userdoc.rst +++ b/ackermann_steering_controller/doc/userdoc.rst @@ -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 `_ 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 diff --git a/bicycle_steering_controller/doc/userdoc.rst b/bicycle_steering_controller/doc/userdoc.rst index dd6db9ceaa..a720ff887d 100644 --- a/bicycle_steering_controller/doc/userdoc.rst +++ b/bicycle_steering_controller/doc/userdoc.rst @@ -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 `_ 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 diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index 80e5e4fda2..763381c065 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -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> diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst index d1c23bb136..ee0af57d7b 100644 --- a/forward_command_controller/doc/userdoc.rst +++ b/forward_command_controller/doc/userdoc.rst @@ -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 `_ 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 diff --git a/gripper_controllers/doc/userdoc.rst b/gripper_controllers/doc/userdoc.rst new file mode 100644 index 0000000000..28262e90f9 --- /dev/null +++ b/gripper_controllers/doc/userdoc.rst @@ -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 `_ to handle its parameters. + +.. generate_parameter_library_details:: ../src/gripper_action_controller_parameters.yaml diff --git a/imu_sensor_broadcaster/doc/userdoc.rst b/imu_sensor_broadcaster/doc/userdoc.rst index 24438c9959..3b8ae172db 100644 --- a/imu_sensor_broadcaster/doc/userdoc.rst +++ b/imu_sensor_broadcaster/doc/userdoc.rst @@ -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 `_ to handle its parameters. -sensor_name (mandatory) - Defines sensor name used as prefix for its interfaces. - Interface names are: /orientation.x, ..., /angular_velocity.x, ..., - /linear_acceleration.x. +.. generate_parameter_library_details:: ../src/imu_sensor_broadcaster_parameters.yaml diff --git a/imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml b/imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml index c0daba9f11..bd63bf4aa6 100644 --- a/imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml +++ b/imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml @@ -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: ``/orientation.x, ..., /angular_velocity.x, ..., + /linear_acceleration.x.``", } frame_id: { type: string, diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst index 47d9516fd1..df3d1529d0 100644 --- a/steering_controllers_library/doc/userdoc.rst +++ b/steering_controllers_library/doc/userdoc.rst @@ -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 `_ 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 diff --git a/tricycle_steering_controller/doc/userdoc.rst b/tricycle_steering_controller/doc/userdoc.rst index bf20dc58c2..d76f489745 100644 --- a/tricycle_steering_controller/doc/userdoc.rst +++ b/tricycle_steering_controller/doc/userdoc.rst @@ -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 `_ 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