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[Steering controllers lib] Improve docs (backport #785) #786

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Oct 5, 2023
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[Steering controllers lib] Improve docs (backport #785) #786

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2 changes: 2 additions & 0 deletions ackermann_steering_controller/doc/userdoc.rst
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Expand Up @@ -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
2 changes: 2 additions & 0 deletions bicycle_steering_controller/doc/userdoc.rst
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Expand Up @@ -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
12 changes: 6 additions & 6 deletions steering_controllers_library/src/steering_controllers_library.yaml
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Expand Up @@ -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,
}

Expand Down Expand Up @@ -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,
}

Expand All @@ -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,
}
2 changes: 2 additions & 0 deletions tricycle_steering_controller/doc/userdoc.rst
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Expand Up @@ -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
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