From 2b96573542837b9303c99bd2fba577757ae751e8 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 9 Jul 2024 11:27:43 +0200 Subject: [PATCH] Update parameters section (#355) (#356) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Alejandro Hernández Cordero (cherry picked from commit 1dc523b958151c6ce2857ab2efc79cf83f230d1d) Co-authored-by: Christoph Fröhlich --- doc/index.rst | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/doc/index.rst b/doc/index.rst index af92554..181480b 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -212,8 +212,23 @@ The *gazebo_ros2_control* ```` tag also has the following optional child * ````: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description`` * ````: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher`` -* ````: YAML file with the configuration of the controllers * ````: if set to true (default), it will hold the joints' position if their interface was not claimed, e.g., the controller hasn't been activated yet. +* ````: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files. +* ````: 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 ```` section: + +.. code-block:: xml + + + + ... + + my_namespace + /robot_description:=/robot_description_full + + + Default gazebo_ros2_control Behavior -----------------------------------------------------------