diff --git a/README.md b/README.md index e31b0fc57..2bb0410d9 100644 --- a/README.md +++ b/README.md @@ -70,9 +70,11 @@ The following examples are part of this demo repository: * Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14) -* Example 15: ["Using multiple controller managers under different namespaces"](example_15) + The example shows how to implement robot hardware with actuators not providing states and with additional sensors. - This example shows how to include multiple robots in namespaced controller manager instances. +* Example 15: ["Using multiple controller managers"](example_15) + + This example shows how to integrate multiple robots under different controller manager instances. ## Structure diff --git a/doc/index.rst b/doc/index.rst index dd76ac9f8..fc1eb1d33 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -80,8 +80,8 @@ Example 13: "Multi-robot example (tba.)" Example 14: "Modular robots with actuators not providing states and with additional sensors" The example shows how to implement robot hardware with actuators not providing states and with additional sensors. -Example 15: "Using multiple controller managers under different namespaces" - This example shows how to include multiple robots in namespaced controller manager instances. +Example 15: "Using multiple controller managers" + This example shows how to integrate multiple robots under different controller manager instances. .. _ros2_control_demos_install: @@ -276,4 +276,4 @@ Examples Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst> Example 12: Controller chaining <../example_12/doc/userdoc.rst> Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst> - Example 15: Using multiple controller managers under different namespaces <../example_15/doc/userdoc.rst> + Example 15: Using multiple controller managers <../example_15/doc/userdoc.rst> diff --git a/example_15/README.md b/example_15/README.md index aaae7d5ed..010dc0b7e 100644 --- a/example_15/README.md +++ b/example_15/README.md @@ -1,5 +1,5 @@ # ros2_control_demo_example_15 - This example shows how to include multiple robots in namespaced controller manager instances. + This example shows how to integrate multiple robots under different controller manager instances. Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_15/doc/userdoc.html). diff --git a/example_15/doc/userdoc.rst b/example_15/doc/userdoc.rst index 16ff2682d..8b2b65cab 100644 --- a/example_15/doc/userdoc.rst +++ b/example_15/doc/userdoc.rst @@ -2,15 +2,15 @@ .. _ros2_control_demos_example_15_userdoc: -Example 15: Using multiple controller managers under different namespaces -========================================================================= +Example 15: Using multiple controller managers +============================================== -This example shows how to include multiple robots in namespaced controller manager instances. +This example shows how to integrate multiple robots under different controller manager instances. .. include:: ../../doc/run_from_docker.rst -Scenario showcase: Using ros2_control within a local namespace ----------------------------------------------------------------- +Scenario: Using ros2_control within a local namespace +----------------------------------------------------- * Launch file: `rrbot_namespace.launch.py `__ * Controllers yaml: `rrbot_namespace_controllers.yaml `__ @@ -75,8 +75,8 @@ Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/positio ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml -Scenario showcase: Using multiple controller managers on the same machine -------------------------------------------------------------------------- +Scenario: Using multiple controller managers on the same machine +---------------------------------------------------------------- * Launch file: `multi_controller_manager_example_two_rrbots.launch.py `__ * Controllers yaml: