From b45acb094647da316de001d1803d61bdd784fbce Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 28 Dec 2023 14:24:37 +0000
Subject: [PATCH 1/2] Add default yaml to docs

---
 pid_controller/doc/userdoc.rst | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/pid_controller/doc/userdoc.rst b/pid_controller/doc/userdoc.rst
index 5570f523fe..9ce3aede16 100644
--- a/pid_controller/doc/userdoc.rst
+++ b/pid_controller/doc/userdoc.rst
@@ -83,4 +83,13 @@ Parameters
 
 The PID controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
+List of parameters
+=========================
 .. generate_parameter_library_details:: ../src/pid_controller.yaml
+
+
+An example parameter file
+=========================
+
+.. generate_parameter_library_default::
+  ../src/pid_controller.yaml

From ee7cc77affb82a6a11d02c0957e52a04285bd9ff Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 9 Jan 2024 20:00:21 +0000
Subject: [PATCH 2/2] Add examples from test folder

---
 pid_controller/doc/userdoc.rst | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/pid_controller/doc/userdoc.rst b/pid_controller/doc/userdoc.rst
index 9ce3aede16..fc94357ab3 100644
--- a/pid_controller/doc/userdoc.rst
+++ b/pid_controller/doc/userdoc.rst
@@ -91,5 +91,13 @@ List of parameters
 An example parameter file
 =========================
 
-.. generate_parameter_library_default::
-  ../src/pid_controller.yaml
+
+An example parameter file for this controller can be found in `the test folder (standalone) <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_params.yaml>`_:
+
+.. literalinclude:: ../test/pid_controller_params.yaml
+   :language: yaml
+
+or as `preceding controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_preceding_params.yaml>`_:
+
+.. literalinclude:: ../test/pid_controller_preceding_params.yaml
+   :language: yaml