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Document the <topic> option for JointPositionController. #1309

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Jan 25, 2022
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Document the <topic> option for JointPositionController. #1309

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10 changes: 8 additions & 2 deletions src/systems/joint_position_controller/JointPositionController.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,12 @@ namespace systems
///
/// A new Ignition Transport topic is created to send target joint positions.
/// The topic name is
/// "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos"
/// "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos".
///
/// This topic accepts ignition::msgs::Double values representing the target
/// position.
/// position. If you wish to change the topic on which this plugin listens
/// you may use the `<topic>` parameter to specify which topic the plugin
/// should listen on.
///
/// ## System Parameters
///
Expand Down Expand Up @@ -75,6 +77,10 @@ namespace systems
/// `<use_velocity_commands>` Bypasses the PID and creates a perfect
/// position. The maximum speed on the joint can be set using the `<cmd_max>`
/// tag.
///
/// `<topic>` If you wish to listen on a non-default topic you may specify it
/// here, otherwise the controller defaults to listening on
/// "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos".
class JointPositionController
: public System,
public ISystemConfigure,
Expand Down