Create doc file for chained controllers (backport #985) (#1131)

ros-controls · Oct 19, 2023 · ced3c65 · ced3c65
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diff --git a/controller_manager/doc/controller_chaining.rst b/controller_manager/doc/controller_chaining.rst
@@ -76,10 +76,10 @@ One can also think of it as an actual chain, you can not add a chain link or bre
 Debugging outputs
 ----------------------------
 
-Flag ``unavailable`` on reference interface does not provide much information about anything at the moment. So don't get confused by it. The reason we have it are internal implementation reasons irelevant for the usage.
+Flag ``unavailable`` if the reference interface does not provide much information about anything at the moment. So don't get confused by it. The reason we have it are internal implementation reasons irelevant for the usage.
 
 
 Closing remarks
 ----------------------------
 
-- Maybe addition of the new controller's type ``ChainableController`` is not necessary. It would also be feasible to add implementation of ``input_interface_configuration()`` method into ``ControllerInterface`` class with default result ``interface_configuration_type::NONE``.
+- Maybe addition of the new controller's type ``ChainableController`` is not necessary. It would also be feasible to add an implementation of ``input_interface_configuration()`` method into ``ControllerInterface`` class with default result ``interface_configuration_type::NONE``.
diff --git a/controller_manager/doc/images/chaining_example2.png b/controller_manager/doc/images/chaining_example2.png
diff --git a/doc/index.rst b/doc/index.rst
@@ -6,6 +6,8 @@
 ros2_control
 #################
 
+This is the documentation of the ros2_control framework core.
+
 `GitHub Repository <https://github.com/ros-controls/ros2_control>`_
 
 =================
@@ -14,15 +16,12 @@ API Documentation
 
 API documentation is parsed by doxygen and can be found `here <../../api/index.html>`_
 
-
-
 =========
 Features
 =========
 
 * :ref:`Command Line Interface (CLI) <ros2controlcli_userdoc>`
 
-
 ========
 Concepts
 ========
@@ -31,5 +30,6 @@ Concepts
    :titlesonly:
 
    Controller Manager <../controller_manager/doc/userdoc.rst>
+   Controller Chaining / Cascade Control <../controller_manager/doc/controller_chaining.rst>
    Hardware Components <../hardware_interface/doc/hardware_components_userdoc.rst>
    Mock Components <../hardware_interface/doc/mock_components_userdoc.rst>