From a8228afd7a0bbe30cfec6304b53b30e4b5bbce84 Mon Sep 17 00:00:00 2001
From: Wiktor Bajor <wiktorbajor1@gmail.com>
Date: Thu, 7 Nov 2024 09:39:01 +0100
Subject: [PATCH] Update docs after review

---
 gpio_controllers/doc/userdoc.rst | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/gpio_controllers/doc/userdoc.rst b/gpio_controllers/doc/userdoc.rst
index e3034b92df..a963bd43fe 100644
--- a/gpio_controllers/doc/userdoc.rst
+++ b/gpio_controllers/doc/userdoc.rst
@@ -23,10 +23,13 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 .. generate_parameter_library_details::
   ../src/gpio_command_controller_parameters.yaml
 
-The controller expects at least one gpio interface and the corresponding command interface names or state interface.
-Command and state interfaces are optional. When no state interface is provided in the param file then controller will try use state_interfaces from ros2_control's config placed in the URDF for configured gpio interfaces.
-Command interfaces will not be configured based on available URDF setup.
-A yaml file for using it could be:
+The controller expects at least one GPIO interface and the corresponding command interface names or state interface.
+Command and state interfaces are optional.
+
+.. note::
+
+  When no state interface is provided in the param file, the controller will try to use state_interfaces from ros2_control's config placed in the URDF for configured gpio interfaces.
+  However, Command interfaces will not be configured based on the available URDF setup.
 
 .. code-block:: yaml
 
@@ -52,4 +55,4 @@ A yaml file for using it could be:
               - ana.1
               - ana.2
 
-With such configuration controller will accept commands for all gpios' interfaces and will publish state only of Gpio2.
+With the above-defined controller configuration, the controller will accept commands for all gpios' interfaces and will only publish the state of Gpio2.