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Update parameters section humble/iron #355

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Jul 8, 2024
Merged

Update parameters section humble/iron #355

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Update parameters section
christophfroehlich Jul 6, 2024
46b64c2
Merge branch 'iron' into fix_docs_iron
ahcorde Jul 8, 2024
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17 changes: 16 additions & 1 deletion doc/index.rst
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Expand Up @@ -212,8 +212,23 @@ The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child

* ``<robot_param>``: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description``
* ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
* ``<parameters>``: YAML file with the configuration of the controllers
* ``<hold_joints>``: 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.
* ``<parameters>``: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files.
* ``<controller_manager_name>``: 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 ``<ros>`` section:

.. code-block:: xml

<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
...
<ros>
<namespace>my_namespace</namespace>
<remapping>/robot_description:=/robot_description_full</remapping>
</ros>
</plugin>
</gazebo>

Default gazebo_ros2_control Behavior
-----------------------------------------------------------
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