Let sphinx add parameter description to documentation

admittance_controller/doc/userdoc.rst

@@ -17,10 +17,12 @@ ROS 2 interface of the controller
 Parameters
 ^^^^^^^^^^^
 
-The admittance controller's uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
-The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+The admittance controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
 An example parameter file can be found in the `test folder of the controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_
 
+.. generate_parameter_library_details:: ../src/admittance_controller_parameters.yaml
+
 
 Topics
 ^^^^^^^

diff_drive_controller/doc/userdoc.rst

@@ -64,7 +64,9 @@ Publishers
 Parameters
 ,,,,,,,,,,,,
 
-Check `parameter definition file for details <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/diff_drive_controller/src/diff_drive_controller_parameter.yaml>`_.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+.. generate_parameter_library_details:: ../src/diff_drive_controller_parameter.yaml
 
 Note that the documentation on parameters for joint limits can be found in `their header file <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/joint_limits/include/joint_limits/joint_limits_rosparam.hpp#L56-L75>`_.
 Those parameters are:

force_torque_sensor_broadcaster/doc/userdoc.rst

@@ -12,15 +12,10 @@ The controller is a wrapper around ``ForceTorqueSensor`` semantic component (see
 
 Parameters
 ^^^^^^^^^^^
-The interfaces can be defined in two ways, using ``sensor_name`` or ``interface_names`` parameter.
-Those two parameters can not be defined at the same time
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
-frame_id (mandatory)
-  Frame in which the output message will be published.
-
-sensor_name (optional)
-  Defines sensor name used as prefix for its interfaces.
-  If used standard interface names for a 6D FTS will be used: <sensor_name>/force.x, ..., <sensor_name>/torque.z.
+The interfaces can be defined in two ways, using ``sensor_name`` or ``interface_names`` parameter:
+Those two parameters cannot be defined at the same time.
 
 interface_names.[force|torque].[x|y|z] (optional)
   Defines custom, per axis interface names.
@@ -34,3 +29,7 @@ interface_names.[force|torque].[x|y|z] (optional)
      interface_names:
        force:
          x: example_name/example_interface
+
+Full list of parameters:
+
+.. generate_parameter_library_details:: ../src/force_torque_sensor_broadcaster_parameters.yaml

force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml

@@ -10,7 +10,8 @@ force_torque_sensor_broadcaster:
   sensor_name: {
     type: string,
     default_value: "",
-    description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
+    description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.
+    If used, standard interface names for a 6D FTS will be used: ``<sensor_name>/force.x, ..., <sensor_name>/torque.z``",
   }
   interface_names:
     force:

joint_state_broadcaster/doc/userdoc.rst

@@ -22,25 +22,9 @@ If none of the requested interface are not defined, the controller returns error
 
 Parameters
 ----------
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
-use_local_topics
-  Optional parameter (boolean; default: ``False``) defining if ``joint_states`` and ``dynamic_joint_states`` messages should be published into local namespace, e.g., ``/my_state_broadcaster/joint_states``.
-
-
-joints
-  Optional parameter (string array) to support broadcasting of only specific joints and interfaces.
-  It has to be used in combination with the ``interfaces`` parameter.
-  Joint state broadcaster asks for access to all defined interfaces on all defined joints.
-
-
-interfaces
-  Optional parameter (string array) to support broadcasting of only specific joints and interfaces.
-  It has to be used in combination with the ``joints`` parameter.
-
-
-extra_joints
-  Optional parameter (string array) with names of extra joints to be added to ``joint_states`` and ``dynamic_joint_states`` with state set to 0.
-
+For an exemplary parameterization see the ``test`` folder of the controller's package.
 
 map_interface_to_joint_state
   Optional parameter (map) providing mapping between custom interface names to standard fields in ``joint_states`` message.
@@ -89,3 +73,7 @@ map_interface_to_joint_state
 
       map_interface_to_joint_state:
         effort: current_sensor
+
+Full list of parameters:
+
+.. generate_parameter_library_details:: ../src/joint_state_broadcaster_parameters.yaml

joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml

@@ -2,18 +2,25 @@ joint_state_broadcaster:
   use_local_topics: {
     type: bool,
     default_value: false,
+    description: "Defining if ``joint_states`` and ``dynamic_joint_states`` messages should be published into local namespace, e.g., ``/my_state_broadcaster/joint_states``."
   }
   joints: {
     type: string_array,
     default_value: [],
+    description: "Parameter to support broadcasting of only specific joints and interfaces.
+    It has to be used in combination with the ``interfaces`` parameter.
+    Joint state broadcaster asks for access to all defined interfaces on all defined joints."
   }
   extra_joints: {
     type: string_array,
     default_value: [],
+    description: "Names of extra joints to be added to ``joint_states`` and ``dynamic_joint_states`` with state set to 0."
   }
   interfaces: {
     type: string_array,
     default_value: [],
+    description: "Parameter to support broadcasting of only specific joints and interfaces.
+    It has to be used in combination with the ``joints`` parameter."
   }
   map_interface_to_joint_state:
     position: {