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Docs: Make unique headings #341

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Aug 17, 2023
Merged

Docs: Make unique headings #341

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4761145
Make unique headings
christophfroehlich Aug 14, 2023
54ccdb6
Update docker installation
christophfroehlich Aug 14, 2023
6c8ad3e
Revert "Update docker installation"
christophfroehlich Aug 14, 2023
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16 changes: 8 additions & 8 deletions example_7/doc/userdoc.rst
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Expand Up @@ -284,8 +284,8 @@ Finally, all ros2_control plugins should have the following two lines of code at

``PLUGINLIB_EXPORT_CLASS`` is a c++ macro creates a plugin library using ``pluginlib``.

Plugin description file
************************
Plugin description file (hardware)
**********************************

The plugin description file is a required XML file that describes a plugin's library name, class type, namespace, description, and interface type. This file allows the ROS 2 to automatically discover and load plugins. It is formatted as follows.

Expand All @@ -306,8 +306,8 @@ The plugin description file is a required XML file that describes a plugin's lib
The ``path`` attribute of the ``library`` tags refers to the cmake library name of the user defined hardware plugin. See `here <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_7/ros2_control_demo_example_7.xml>`__ for the complete XML file.

CMake library
*************
CMake library (hardware)
************************

The general CMake template to make a hardware plugin available in ros2_control is shown below. Notice that a library is created using the plugin source code just like any other cmake library. In addition, an extra compile definition and cmake export macro (``pluginlib_export_plugin_description_file``) need to be added. See `here <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_7/CMakeLists.txt>`__ for the complete ``CMakeLists.txt`` file.

Expand Down Expand Up @@ -484,8 +484,8 @@ The ``on_error`` method is called if the managed node fails a state transition.
}


Plugin description file
**************************
Plugin description file (controller)
************************************

The plugin description file is again required for the controller, since it is exported as a library. The controller plugin description file is formatted as follows. See `here <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_7/ros2_control_demo_example_7.xml>`__ for the complete XML file.

Expand All @@ -504,8 +504,8 @@ The plugin description file is again required for the controller, since it is ex
</library>
CMake library
*************
CMake library (controller)
**************************

The plugin must be specified in the CMake file that builds the controller plugin. See `here <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_7/CMakeLists.txt>`__ for the complete ``CMakeLists.txt`` file.

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