From cceaa03f32483ea82a4c01e5d9faedcc7eb49f70 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Jan 2024 21:01:52 +0000 Subject: [PATCH] [JTC docs] Clarify what "joints and interfaces have to be used in combination" means --- .../src/joint_state_broadcaster_parameters.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml index 08691072d3..8f0d4da6c5 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml +++ b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml @@ -9,6 +9,8 @@ joint_state_broadcaster: default_value: [], description: "Parameter to support broadcasting of only specific joints and interfaces. It has to be used in combination with the ``interfaces`` parameter. + If either ``joints`` or ``interfaces`` is left empty, all available state interfaces will be + published. Joint state broadcaster asks for access to all defined interfaces on all defined joints." } extra_joints: { @@ -20,7 +22,9 @@ joint_state_broadcaster: 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." + It has to be used in combination with the ``joints`` parameter. + If either ``joints`` or ``interfaces`` is left empty, all available state interfaces will be + published." } map_interface_to_joint_state: position: {