Update parameter descriptions and include test yamls where exists

admittance_controller/doc/userdoc.rst

@@ -17,12 +17,14 @@ ROS 2 interface of the controller
 Parameters
 ^^^^^^^^^^^
 
-The admittance controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
-
-An example parameter file can be found in the `test folder of the controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_
+The admittance controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
 .. generate_parameter_library_details:: ../src/admittance_controller_parameters.yaml
 
+An example parameter file for this controller can be found in `the test folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_:
+
+.. literalinclude:: ../test/test_params.yaml
+   :language: yaml
 
 Topics
 ^^^^^^^

diff_drive_controller/doc/parameters_context.yaml

@@ -0,0 +1,9 @@
+linear.x: |
+  Joint limits structure for the linear ``x``-axis.
+  The limiter ignores position limits.
+  For details see ``joint_limits`` package from ros2_control repository.
+
+angular.z: |
+  Joint limits structure for the rotation about ``z``-axis.
+  The limiter ignores position limits.
+  For details see ``joint_limits`` package from ros2_control repository.

diff_drive_controller/doc/userdoc.rst

@@ -64,28 +64,12 @@ Publishers
 Parameters
 ,,,,,,,,,,,,
 
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/diff_drive_controller/src/diff_drive_controller_parameter.yaml>`_ contains descriptions for all the parameters used by the controller.
 
-List of parameters
-=========================
 .. generate_parameter_library_details:: ../src/diff_drive_controller_parameter.yaml
+  parameters_context.yaml
 
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/diff_drive_controller/test/config/test_diff_drive_controller.yaml>`_:
 
-Note that the documentation on parameters for joint limits can be found in `their header file <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/joint_limits/include/joint_limits/joint_limits_rosparam.hpp#L56-L75>`_.
-Those parameters are:
-
-linear.x [JointLimits structure]
-  Joint limits structure for the linear X-axis.
-  The limiter ignores position limits.
-  For details see ``joint_limits`` package from ros2_control repository.
-
-angular.z [JointLimits structure]
-  Joint limits structure for the rotation about Z-axis.
-  The limiter ignores position limits.
-  For details see ``joint_limits`` package from ros2_control repository.
-
-An example parameter file
-=========================
-
-.. generate_parameter_library_default::
-  ../src/diff_drive_controller_parameter.yaml
+.. literalinclude:: ../test/config/test_diff_drive_controller.yaml
+   :language: yaml

force_torque_sensor_broadcaster/doc/parameters_context.yaml

@@ -0,0 +1,12 @@
+interface_names: |
+  (optional) Defines custom, per axis interface names.
+  This is used if different prefixes, i.e., sensor name, or non-standard interface names are used.
+  It is sufficient that only one ``interface_name`` is defined.
+  This enables broadcaster use for force sensing cells with less then six measuring axes.
+  Example definition is:
+
+  .. code-block:: yaml
+
+     interface_names:
+       force:
+         x: example_name/example_interface

force_torque_sensor_broadcaster/doc/userdoc.rst

@@ -12,24 +12,17 @@ The controller is a wrapper around ``ForceTorqueSensor`` semantic component (see
 
 Parameters
 ^^^^^^^^^^^
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
 The interfaces can be defined in two ways, using ``sensor_name`` or ``interface_names`` parameter:
 Those two parameters cannot be defined at the same time.
 
-interface_names.[force|torque].[x|y|z] (optional)
-  Defines custom, per axis interface names.
-  This is used if different prefixes, i.e., sensor name, or non-standard interface names are used.
-  It is sufficient that only one ``interface_name`` is defined.
-  This enables broadcaster use for force sensing cells with less then six measuring axes.
-  Example definition is:
-
-  .. code-block:: yaml
-
-     interface_names:
-       force:
-         x: example_name/example_interface
-
 Full list of parameters:
 
 .. generate_parameter_library_details:: ../src/force_torque_sensor_broadcaster_parameters.yaml
+  parameters_context.yaml
+
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/force_torque_sensor_broadcaster/test/force_torque_sensor_broadcaster_params.yaml>`_:
+
+.. literalinclude:: ../test/force_torque_sensor_broadcaster_params.yaml
+   :language: yaml

gripper_controllers/doc/userdoc.rst

@@ -5,11 +5,14 @@
 Gripper Action Controller
 --------------------------------
 
-Controller for executing a gripper command action for simple single-dof grippers.
+Controllers for executing a gripper command action for simple single-dof grippers:
+
+- ``position_controllers/GripperActionController``
+- ``effort_controllers/GripperActionController``
 
 Parameters
 ^^^^^^^^^^^
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+These controllers use the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gripper_controllers/src/gripper_action_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
 List of parameters
 =========================

imu_sensor_broadcaster/doc/userdoc.rst

@@ -11,7 +11,7 @@ The controller is a wrapper around ``IMUSensor`` semantic component (see ``contr
 
 Parameters
 ^^^^^^^^^^^
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/imu_sensor_broadcaster/src/imu_sensor_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
 List of parameters
 =========================
@@ -21,5 +21,7 @@ List of parameters
 An example parameter file
 =========================
 
-.. generate_parameter_library_default::
-  ../src/imu_sensor_broadcaster_parameters.yaml
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/imu_sensor_broadcaster/test/imu_sensor_broadcaster_params.yaml>`_:
+
+.. literalinclude:: ../test/imu_sensor_broadcaster_params.yaml
+   :language: yaml

joint_state_broadcaster/doc/userdoc.rst

@@ -22,18 +22,19 @@ If none of the requested interface are not defined, the controller returns error
 
 Parameters
 ----------
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+
 
 List of parameters
-=========================
+,,,,,,,,,,,,,,,,,,
 
 .. generate_parameter_library_details::
   ../src/joint_state_broadcaster_parameters.yaml
   joint_state_broadcaster_parameter_context.yml
 
 
 An example parameter file
-=========================
+,,,,,,,,,,,,,,,,,,,,,,,,,
 
 .. generate_parameter_library_default::
   ../src/joint_state_broadcaster_parameters.yaml

joint_trajectory_controller/doc/parameters.rst

@@ -5,7 +5,8 @@
 Details about parameters
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
-This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+
 
 List of parameters
 =========================

range_sensor_broadcaster/doc/userdoc.rst

@@ -11,7 +11,8 @@ The controller is a wrapper around ``RangeSensor`` semantic component (see ``con
 
 Parameters
 ^^^^^^^^^^^
-The Range Sensor Broadcaster uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+The Range Sensor Broadcaster uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/range_sensor_broadcaster/src/range_sensor_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+
 
 List of parameters
 =========================
@@ -23,3 +24,8 @@ An example parameter file
 
 .. generate_parameter_library_default::
   ../src/range_sensor_broadcaster_parameters.yaml
+
+An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/range_sensor_broadcaster/test/range_sensor_broadcaster_params.yaml>`_:
+
+.. literalinclude:: ../test/range_sensor_broadcaster_params.yaml
+   :language: yaml