Fix doxygen syntax

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -40,6 +40,9 @@
 
 namespace hardware_interface
 {
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 /// Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
 /**
  * The typical examples are conveyors or motors.
@@ -63,23 +66,25 @@ namespace hardware_interface
  *   Communication with the hardware is started and it is configured.
  *   States can be read and command interfaces are available.
  *
- *   TODO(anyone): Implement https://github.com/ros-controls/ros2_control/issues/931
- *      States can be read and non-movement hardware interfaces commanded.
- *      Hardware interfaces for movement will NOT be available.
- *      Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.
- *
  * FINALIZED (on_shutdown):
  *   Hardware interface is ready for unloading/destruction.
  *   Allocated memory is cleaned up.
  *
  * ACTIVE (on_activate):
  *   Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.
- *   Command interfaces for movement are available and have to be accepted.
- *   Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.
+ *   Command interfaces available.
+ *
+ * \todo
+ * Implement
+ *  * https://github.com/ros-controls/ros2_control/issues/931
+ *  * https://github.com/ros-controls/roadmap/pull/51/files
+ *  * this means in INACTIVE state:
+ *      * States can be read and non-movement hardware interfaces commanded.
+ *      * Hardware interfaces for movement will NOT be available.
+ *      * Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and
+ * HW_IF_EFFORT.
  */
 
-using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
-
 class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 {
 public:

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -39,6 +39,9 @@
 
 namespace hardware_interface
 {
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 /// Virtual Class to implement when integrating a stand-alone sensor into ros2_control.
 /**
  * The typical examples are Force-Torque Sensor (FTS), Interial Measurement Unit (IMU).
@@ -69,9 +72,6 @@ namespace hardware_interface
  * ACTIVE (on_activate):
  *   States can be read.
  */
-
-using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
-
 class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 {
 public:

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -42,8 +42,12 @@
 
 namespace hardware_interface
 {
-/// Virtual Class to implement when integrating a complex system into ros2_control.
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 /**
+ * @brief Virtual Class to implement when integrating a complex system into ros2_control.
+ *
  * The common examples for these types of hardware are multi-joint systems with or without sensors
  * such as industrial or humanoid robots.
  *
@@ -60,29 +64,31 @@ namespace hardware_interface
  *
  * UNCONFIGURED (on_init, on_cleanup):
  *   Hardware is initialized but communication is not started and therefore no interface is
- * available.
+ *available.
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.
  *   States can be read and command interfaces are available.
  *
- *   TODO(anyone): Implement https://github.com/ros-controls/ros2_control/issues/931
- *      States can be read and non-movement hardware interfaces commanded.
- *      Hardware interfaces for movement will NOT be available.
- *      Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.
- *
  * FINALIZED (on_shutdown):
  *   Hardware interface is ready for unloading/destruction.
  *   Allocated memory is cleaned up.
  *
  * ACTIVE (on_activate):
  *   Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.
- *   Command interfaces for movement are available and have to be accepted.
- *   Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.
+ *   Command interfaces available.
+ *
+ * \todo
+ * Implement
+ *  * https://github.com/ros-controls/ros2_control/issues/931
+ *  * https://github.com/ros-controls/roadmap/pull/51/files
+ *  * this means in INACTIVE state:
+ *      * States can be read and non-movement hardware interfaces commanded.
+ *      * Hardware interfaces for movement will NOT be available.
+ *      * Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and
+ *HW_IF_EFFORT.
  */
 
-using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
-
 class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 {
 public: