Update docs

doc/migration/Jazzy.rst

@@ -18,3 +18,4 @@ joint_trajectory_controller
 * Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
 * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
 * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.
+* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary.

doc/release_notes/Jazzy.rst

@@ -33,6 +33,20 @@ joint_trajectory_controller
 * Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/887>`_).
 * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
 * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). ``angle_wraparound`` parameter was completely removed.
+* Tolerances sent with the action goal are now processed and used for the action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). For details, see the `JointTolerance message <https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg>`_:
+
+  .. code-block:: markdown
+
+    The tolerances specify the amount the position, velocity, and
+    accelerations can vary from the setpoints.  For example, in the case
+    of trajectory control, when the actual position varies beyond
+    (desired position + position tolerance), the trajectory goal may
+    abort.
+
+    There are two special values for tolerances:
+     * 0 - The tolerance is unspecified and will remain at whatever the default is
+     * -1 - The tolerance is "erased".  If there was a default, the joint will be
+            allowed to move without restriction.
 
 pid_controller
 ************************

joint_trajectory_controller/doc/userdoc.rst

@@ -152,7 +152,21 @@ Actions  [#f1]_
 
 The primary way to send trajectories is through the action interface, and should be favored when execution monitoring is desired.
 
-Action goals allow to specify not only the trajectory to execute, but also (optionally) path and goal tolerances.
+Action goals allow to specify not only the trajectory to execute, but also (optionally) path and goal tolerances. For details, see the `JointTolerance message <https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg>`_:
+
+.. code-block:: markdown
+
+  The tolerances specify the amount the position, velocity, and
+  accelerations can vary from the setpoints.  For example, in the case
+  of trajectory control, when the actual position varies beyond
+  (desired position + position tolerance), the trajectory goal may
+  abort.
+
+  There are two special values for tolerances:
+    * 0 - The tolerance is unspecified and will remain at whatever the default is
+    * -1 - The tolerance is "erased".  If there was a default, the joint will be
+          allowed to move without restriction.
+
 When no tolerances are specified, the defaults given in the parameter interface are used (see :ref:`parameters`).
 If tolerances are violated during trajectory execution, the action goal is aborted, the client is notified, and the current position is held.