From 4e396ca1b0bdbaa702860c700e59513c68f5e4f1 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 20 Nov 2023 23:03:20 +0100 Subject: [PATCH 1/3] added documentation on common controller parameters --- doc/controllers_index.rst | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index 9fceb90fd3..b3d8e1260b 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -72,3 +72,12 @@ In the sense of ros2_control, broadcasters are still controllers using the same IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst> Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst> Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst> + + +Common Controller Parameters +**************************** + +Every controller and broadcaster have a few common parameters that are necessary upon initialization. These parameters are `update_rate` and `is_async`. + +* `update_rate`: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. +* `is_async`: A boolean parameter that is needed to specify if the controller update needs to run asynchronously. From adfe778a8b7746ba5595beacc016c0fe57ef6297 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 21 Nov 2023 17:46:56 +0100 Subject: [PATCH 2/3] Apply suggestions from code review --- doc/controllers_index.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index b3d8e1260b..a1c789b473 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -77,7 +77,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same Common Controller Parameters **************************** -Every controller and broadcaster have a few common parameters that are necessary upon initialization. These parameters are `update_rate` and `is_async`. +Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents `__. Once the controllers are already loaded, this transition is done using the `configure_controller` service of the controller_manager. -* `update_rate`: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. -* `is_async`: A boolean parameter that is needed to specify if the controller update needs to run asynchronously. +* ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. +* ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously. From 31f87547b8a08a386094411c2782f8996193f161 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 21 Nov 2023 17:49:22 +0100 Subject: [PATCH 3/3] Fix format --- doc/controllers_index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index a1c789b473..5f8780d961 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -77,7 +77,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same Common Controller Parameters **************************** -Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents `__. Once the controllers are already loaded, this transition is done using the `configure_controller` service of the controller_manager. +Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents `__. Once the controllers are already loaded, this transition is done using the service ``configure_controller`` of the controller_manager. * ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager. * ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.