Update release notes and documentation

controller_manager/doc/userdoc.rst

@@ -157,9 +157,8 @@ There are two scripts to interact with controller manager from launch files:
 .. code-block:: console
 
     $ ros2 run controller_manager spawner -h
-    usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--inactive] [-t CONTROLLER_TYPE] [-u]
-                      [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT]
-                      controller_name
+    usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--inactive] [-u] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--activate-as-group]
+                  controller_names [controller_names ...]
 
     positional arguments:
       controller_names      List of controllers
@@ -178,9 +177,6 @@ There are two scripts to interact with controller manager from launch files:
       --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT
                             Time to wait for the controller manager
       --activate-as-group   Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers altogether
-      --fallback_controllers FALLBACK_CONTROLLERS [FALLBACK_CONTROLLERS ...]
-                            Fallback controllers list are activated as a fallback strategy when the spawned controllers fail. When the argument is provided, it takes precedence over the fallback_controllers list in the
-                            param file
 
 
 The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files:

doc/release_notes.rst

@@ -76,6 +76,7 @@ controller_manager
 * The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
 * The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 <https://github.com/ros-controls/ros2_control/pull/1640>`_).
 * Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
+* The spawner now supports parsing multiple ``-p`` or ``--param-file`` arguments, this should help in loading multiple parameter files for a controller or for multiple controllers (`#1805 <https://github.com/ros-controls/ros2_control/pull/1805>`_).
 
 hardware_interface
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