Improve docs (#785)

(cherry picked from commit ca38c06)
ros-controls · Sep 29, 2023 · 058d330 · 058d330
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Showing 4 changed files with 12 additions and 6 deletions.
diff --git a/ackermann_steering_controller/doc/userdoc.rst b/ackermann_steering_controller/doc/userdoc.rst
@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. 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
@@ -20,4 +20,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml
diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -59,7 +59,7 @@ steering_controllers_library:
   open_loop: {
     type: bool,
     default_value: false,
-    description: "bool parameter decides if open oop or not (feedback).",
+    description: "Choose if open-loop or not (feedback) is used for odometry calculation.",
     read_only: false,
   }
 
@@ -87,7 +87,7 @@ steering_controllers_library:
   enable_odom_tf: {
     type: bool,
     default_value: true,
-    description: "Publishing to tf is enabled or disabled ?.",
+    description: "Publishing to tf is enabled or disabled?",
     read_only: false,
   }
 
@@ -108,15 +108,15 @@ steering_controllers_library:
   position_feedback: {
     type: bool,
     default_value: false,
-    description: "Choice of feedback type, if position_feedback is false then HW_IF_VELOCITY is taken as interface type, if
-    position_feedback is true then HW_IF_POSITION is taken as interface type",
+    description: "Choice of feedback type, if position_feedback is false then ``HW_IF_VELOCITY`` is taken as interface type, if
+    position_feedback is true then ``HW_IF_POSITION`` is taken as interface type",
     read_only: false,
   }
 
   use_stamped_vel: {
     type: bool,
     default_value: false,
-    description: "Choice of vel type, if use_stamped_vel is false then geometry_msgs::msg::Twist is taken as vel msg type, if
-    use_stamped_vel is true then geometry_msgs::msg::TwistStamped is taken as vel msg type",
+    description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
+    use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type",
     read_only: false,
   }
diff --git a/tricycle_steering_controller/doc/userdoc.rst b/tricycle_steering_controller/doc/userdoc.rst
@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/tricycle_steering_controller.yaml