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added documentation on common controller parameters (backport #855) #871

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Nov 30, 2023
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added documentation on common controller parameters (backport #855) #871

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9 changes: 9 additions & 0 deletions doc/controllers_index.rst
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Expand Up @@ -72,3 +72,12 @@ In the sense of ros2_control, broadcasters are still controllers using the same
IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>


Common Controller Parameters
****************************

Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents <https://design.ros2.org/articles/node_lifecycle.html>`__. Once the controllers are already loaded, this transition is done using the service ``configure_controller`` of the controller_manager.

* ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager.
* ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.
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