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

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Oct 19, 2023
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Create doc file for chained controllers (backport #985) #1131

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14ab809
Create doc file for chained controllers (#985)
destogl Jul 2, 2023
c88debe
Fixing Conflicts
destogl Oct 15, 2023
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4 changes: 2 additions & 2 deletions controller_manager/doc/controller_chaining.rst
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Expand Up @@ -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``.
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6 changes: 3 additions & 3 deletions doc/index.rst
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Expand Up @@ -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>`_

=================
Expand All @@ -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
========
Expand All @@ -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>
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