From 0d7bd683a0f849221806be609732e1c3732f1537 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 5 Jun 2023 19:07:56 +0000 Subject: [PATCH] Let sphinx add parameter description to documentation --- admittance_controller/doc/userdoc.rst | 6 +++-- diff_drive_controller/doc/userdoc.rst | 4 +++- .../doc/userdoc.rst | 15 ++++++------ ..._torque_sensor_broadcaster_parameters.yaml | 3 ++- joint_state_broadcaster/doc/userdoc.rst | 24 +++++-------------- .../joint_state_broadcaster_parameters.yaml | 7 ++++++ 6 files changed, 29 insertions(+), 30 deletions(-) diff --git a/admittance_controller/doc/userdoc.rst b/admittance_controller/doc/userdoc.rst index 0e4469cd50..917ee312aa 100644 --- a/admittance_controller/doc/userdoc.rst +++ b/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 `_ to handle its parameters. -The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. +The admittance controller uses the `generate_parameter_library `_ to handle its parameters. + An example parameter file can be found in the `test folder of the controller `_ +.. generate_parameter_library_details:: ../src/admittance_controller_parameters.yaml + Topics ^^^^^^^ diff --git a/diff_drive_controller/doc/userdoc.rst b/diff_drive_controller/doc/userdoc.rst index d2dd284cf3..c37d3bfd66 100644 --- a/diff_drive_controller/doc/userdoc.rst +++ b/diff_drive_controller/doc/userdoc.rst @@ -64,7 +64,9 @@ Publishers Parameters ,,,,,,,,,,,, -Check `parameter definition file for details `_. +This controller uses the `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 `_. Those parameters are: diff --git a/force_torque_sensor_broadcaster/doc/userdoc.rst b/force_torque_sensor_broadcaster/doc/userdoc.rst index 053723e8f0..e25eb53035 100644 --- a/force_torque_sensor_broadcaster/doc/userdoc.rst +++ b/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 `_ 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: /force.x, ..., /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 diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml index 68a85d9d8e..3e75ab6012 100644 --- a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml +++ b/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: ``/force.x, ..., /torque.z``", } interface_names: force: diff --git a/joint_state_broadcaster/doc/userdoc.rst b/joint_state_broadcaster/doc/userdoc.rst index c9164ec723..97fa75257e 100644 --- a/joint_state_broadcaster/doc/userdoc.rst +++ b/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 `_ 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 diff --git a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml index ba0d4f0051..08691072d3 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml +++ b/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: {