From 4c65381d3ff4a0575c2beafc1e0c901a79b2333b Mon Sep 17 00:00:00 2001
From: Kenji Brameld <kenjibrameld@gmail.com>
Date: Sun, 28 Aug 2022 18:34:57 +0900
Subject: [PATCH] Add information about <topic> system paramter

Adding some API docs for changes from https://github.com/gazebosim/gz-sim/pull/1076
---
 src/systems/joint_state_publisher/JointStatePublisher.hh | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/systems/joint_state_publisher/JointStatePublisher.hh b/src/systems/joint_state_publisher/JointStatePublisher.hh
index 75c13f15a74..4ea973ddd9c 100644
--- a/src/systems/joint_state_publisher/JointStatePublisher.hh
+++ b/src/systems/joint_state_publisher/JointStatePublisher.hh
@@ -35,7 +35,7 @@ namespace systems
 {
   /// \brief The JointStatePub system publishes state information for
   /// a model. The published message type is ignition::msgs::Model, and the
-  /// publication topic is "/world/<world_name>/model/<model_name>/state".
+  /// publication topic is determined by the `<topic>` parameter.
   ///
   /// By default the JointStatePublisher will publish all joints for
   /// a model. Use the `<joint_name>` system parameter, described below, to
@@ -43,6 +43,9 @@ namespace systems
   ///
   /// # System Parameters
   ///
+  /// `<topic>`: Name of the topic to publish to. This parameter is optional,
+  /// and if not provided, the joint state will be published to
+  /// "/world/<world_name>/model/<model_name>/state".
   /// `<joint_name>`: Name of a joint to publish. This parameter can be
   /// specified multiple times, and is optional. All joints in a model will
   /// be published if joint names are not specified.