From bd5bc83faf8944f2b4136cde24d48d1b7bca274f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 6 Jul 2024 11:43:11 +0000
Subject: [PATCH 1/2] Update parameters section

---
 doc/index.rst | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/doc/index.rst b/doc/index.rst
index ac2f320b..9273c44b 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -146,7 +146,23 @@ robot hardware interfaces between *ros2_control* and Gazebo.
 
 The *gz_ros2_control* ``<plugin>`` tag also has the following optional child elements:
 
-* ``<parameters>``: YAML file with the configuration of the controllers
+* ``<robot_param>``: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description``
+* ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
+* ``<parameters>``: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files.
+* ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)
+
+Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
+
+.. code-block:: xml
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      ...
+      <ros>
+        <namespace>my_namespace</namespace>
+        <remapping>/robot_description:=/robot_description_full</remapping>
+      </ros>
+    </plugin>
+  </gazebo>
 
 Default gz_ros2_control Behavior
 -----------------------------------------------------------

From 22ade35255990af608c58303d6b8202ec65957f4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 6 Jul 2024 11:45:27 +0000
Subject: [PATCH 2/2] Fix plugin name

---
 doc/index.rst | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/doc/index.rst b/doc/index.rst
index 9273c44b..eb092477 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -154,8 +154,9 @@ The *gz_ros2_control* ``<plugin>`` tag also has the following optional child ele
 Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
 
 .. code-block:: xml
+
   <gazebo>
-    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+    <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       ...
       <ros>
         <namespace>my_namespace</namespace>