From 35556854883b546143d7773c43053650a8b23840 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Thu, 30 Nov 2023 16:26:33 +0100 Subject: [PATCH] added documentation on common controller parameters (#855) --- doc/controllers_index.rst | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index 9fceb90fd3..5f8780d961 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -72,3 +72,12 @@ In the sense of ros2_control, broadcasters are still controllers using the same IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst> Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst> Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst> + + +Common Controller Parameters +**************************** + +Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents `__. Once the controllers are already loaded, this transition is done using the service ``configure_controller`` of the controller_manager. + +* ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. +* ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.