logi_g29.doctor.toml

#ROS package you are documenting
package_name = "Logi_g29"
repo = "https://github.com/ISC-Project-Phoenix/logi_g29"

#You can have multiple nodes in one package
[[nodes]]
node_name = 'Logi_g29'
#Relitive to this file
source_file = ['./src/logi_g29.cpp']
summary = '''
Logitech g29 force feedback wheel device driver.

This node fills the role of both a joy driver and something like joy_telop_twist.
'''
# (optional)
potential_improvements = '''This node is generic across projects via libackermann, although currently it only has
support for pheonix. To use in another project, first add the steering ratio to libackermann, then add a parameter for project to this node.
'''
# (optional)
misc = '''This node does not directly pass the wheel angle as a joystick angle, but rather first passes the steering angle
through a steering ratio to emulate a steering rack. This yields a virtual ackermann wheel angle for an ackermann message
, which is then converted into a twist message.
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/ack_vel'
description = 'AckermannDrive output from the wheel. Speed will be set to brake speed if brake is pressed, else throttle if throttle is pressed, it cannot ever be both'

[[nodes.publishes]]
name = '/cmd_vel'
description = 'Twist ouput from the wheel. Same caviats as /ack_vel'

#Your subscribed topics (optional)
[[nodes.subscribes]]
name = '/joy'
description = 'Raw joy messages from the wheel. This should come from joy_node (included in this packages launch file)'

#Your node parameters (optional)
[[nodes.params]]
name = 'max_throttle_speed'
description = 'Velocity in m/s output when throttle is fully pressed.'

[[nodes.params]]
name = 'max_brake_speed'
description = 'Velocity in m/s output when brake is fully pressed. Should be negitive.'

[[nodes.params]]
name = 'max_steering_rad'
description = '''Maximum steering wheel angle in radians the node will accept.
Steering over this value will output this value. Assumed to be symmetric.
'''

[[nodes.params]]
name = 'wheelbase'
description = '''Wheelbase of the vehicle in meters.'''

#Your launchfile info (optional)
[nodes.launch]
file_path = './launch/logi_g29.launch.py'
usage = 'Launches both logi_g29 and joy_node configured properly.'

[[nodes.launch.args]]
name = 'max_braking_speed'
description = 'Same as node'

[[nodes.launch.args]]
name = 'max_throttle_speed'
description = 'Same as node'

[[nodes.launch.args]]
name = 'max_steering_rad'
description = 'Same as node'

[[nodes.launch.args]]
name = 'wheelbase'
description = 'Same as node'